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

Table 3

Relation between angles θ and δ.

S. number	Angle (θ)	Angle (δ)	Resultant velocity
1	30°	75°	±2
2	45°	67.5°	±2
3	60°	60°	±2
4	90°	45°	±2
5	120°	30°	±2

The positive sign corresponds to the forward velocity and the negative sign to the reverse velocity .