International Journal of Electrical and Computer Engineering
Vol 11, No 1: February 2021

FPGA based synchronous multi-channel PWM generator for humanoid robot

Adharul Muttaqin (Universitas Brawijaya)
Stefanus Dion Finnadi (Universitas Brawijaya)
Zainul Abidin (Universitas Brawijaya)
Kakeru Araki (University of Miyazaki)

Article Info

Publish Date
01 Feb 2021

Abstract

In this paper, synchronous multi-channel pulse width modulation (PWM) generator for driving servo motors of humanoid robot was proposed. In an application, the humanoid robot requires smooth and beautiful movement, therefore the PWM signal for each servo motor must be synchronized. Since microcontroller (slave) has no enough channels to generate synchronous PWMs for 32 servo motors, field programmable gate array (FPGA) was used as slave for the humanoid robot. The FPGA was controlled by microcontroller (master) using serial communication. Simulation results show the system can perform serial communication, synchronize, and convert data well. The system can also generate PWM simultaneously with accurate duty cycle and fix period of 20ms.

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Journal Info
International Journal of Electrical and Computer Engineering
Website

Abbrev

IJECE

Publisher

Institute of Advanced Engineering and Science

Subject

Computer Science & IT Electrical & Electronics Engineering

Description

International Journal of Electrical and Computer Engineering (IJECE, ISSN: 2088-8708, a SCOPUS indexed Journal, SNIP: 1.001; SJR: 0.296; CiteScore: 0.99; SJR & CiteScore Q2 on both of the Electrical & Electronics Engineering, and Computer Science) is the official publication of the Institute of ...