Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels

Figure 8

Front and back movement of TWOMR, wheel and roller rotations, when (a) θ = 30°, (b) θ = 45°, (c) θ = 60°, (d) θ = 90°, and (e) θ = 120°.

(a)

(b)

(c)

(d)

(e)