Quote:
Originally Posted by AllenGregoryIV
I am not sure I understand the first sentence here. A robot with four omni wheels placed 90 degrees apart will travel approximately 1.4 (or square root of 2) times faster than wheel velocity in it's orthogonal directions. At directions parallel to any wheel rotation the robot will only be able to travel at wheel velocity like any two wheeled robot. This is not saying it is geared any different. The robot is actually moving faster than any one wheel is spinning.
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I meant that the net speed, all things considered, is potentially greater for a robot with four motors pointing in the intended direction of motion than a holonomic system, if the gearing is adjusted to compensate for motor differences.
Sorry about any confusion.