Quote:
Originally Posted by Ether
If the command is forward on all 4 wheels and the robot is not moving, yes. We haven't yet discussed the case where the robot is moving forward.
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Your description makes sense: for each wheel, add the force from the other wheel as well as its axle and each wheel ends up with zero sideways force and full forward force. To jump into the case where the robot is moving, your description seems equally valid (with the same assumption that the rollers stick well on the floor).
If you look at a mechanum bot going at 45 degrees, you'll see two wheels on opposite corners don't turn at all, they just slip. A still robot trying to push at 45 degrees would have its force reduced to 1/sqrt(2) compared to the forward direction.