Quote:
Originally Posted by Ether
Omni vehicle with 45 degree-mounted wheels goes faster in the forward direction than omega*R (R being wheel radius and omega being wheel angular velocity in rad/sec).
A chart comparing omni, mecanum, and standard wheels can be found here.
A force analysis of mec vs omni can be found here. A kinematic analysis can be done using a similar approach.
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Ether, I have to go build a robot now, I'll take a look.