FPGA based synchronous multi-channel PWM generator for humanoid robot

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