Quote:
Originally Posted by Creator Mat
Edit: We also want to go over the bump. I also feel that the Omni wheels would not have enough traction to be able to go over the bump
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The traction will not likely be the challenge for a holonomic drive base getting over the bump. Unless you have some sort of suspension, it will be virtually impossible to maintain the wheel contact and proper weight distribution to the wheels in order for it to drive properly.
As you go up the bump, one or more wheels will likely be lifted completely off the ground (unless you're using 3-wheel base that's perfectly aligned with the bump), and thus that wheel can no longer contribute to any driving you're doing (which will likely change the direction you're driving, which will likely cause you to no longer climb the bump). Additionally, as your robot is angled, the weight distribution to each wheel will change, also changing the resulting normal force on each wheel (which could also cause a change in direction).