Quote:
Originally Posted by Fred Sayre
Wait, so when you are rolling forward and there is a sideways force, where is that force coming from? It is the motors. You don't get the applied force for free.
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Some of the motors force is used by the wheel trying to move sideways, but the rollers aren't actually turning, so all of the wheel's velocity is transferred to the ground.
The difference between mecanum and omni-wheel based holonomic is that on an omni system the wheels actually do move sideways when driving forward, while on a mecanum setup they don't.