The invention discloses an embedded multinuclear main controller based on an FPGA (Field Programmable Gata Array) chip in the technical field of robot control. The main controller integrates two main modules, namely a Nios II soft core processor and a DSP (Digital Signal Processing) coprocessor, wherein the Nios II soft core processor communicates with a system clock module, a watchdog and resetting system module, a JTAG interface module, a CAN serial bus control module and a memorizer control module by an Avalon bus module; as a hardware computing core, the DSP coprocessor communicates with a Nios II soft core by the Avalon bus module; and the Nios II soft core is responsible for the movement planning of a robot and the communication of each controller at each joint, and the coprocessor is responsible for kinetic resolving. The embedded multinuclear main controller adopts the Nios II soft core as a communication core and the coprocessor as a computing core to realize the rapid and stable control and reduce energy consumption and the volume.