[dellagd]

Ive also been curious about 'perfecting' a mecanum drive system by taking the load on each wheel and programming the drive to account for the uneven loading. All papers I found only referenced the geometric center of the base, not the center of gravity. I have a pretty good understanding of how they work, and I feel like there should be a way to incorporate the different normal forces into the reverse kinematics, but unfortunately I've come up short on figuring out the calculation myself.

So I'll ask too: Has anyone ever done a write up on the reverse kinematics with uneven loading or even written some code to deal with it? This seems like something Ether would have addressed in the past, but I can't find anything for it.