Sorry to post and run like that, I've been a bit buzy. If you take a look above at the equations I posted your robot would go very screwy. This is turning out to be much harder than it sounded... and it sounded pretty tough to begin with! >sigh< I guess I'll just have to beat my head on it some more... at least a robot POV holonomic would be easy to program...
Oh well. Time to get the team members with more years of math than me and bend
their heads around it. Untill then, however, thanks for your help, and these equations will make the third concussion of my life...
