A request was made for a more detailed explanation of my earlier post concerning kinematic analysis of a mecanum wheeled-robot, and the derivation of the inverse and forward transformation matrices.
I decided to start a new thread for this discussion in order not to divert the focus away from this thread's OP's intent.
http://www.chiefdelphi.com/forums/sh...51&postcount=1
The analysis answers many of the questions posted here about the effect of roller angle and whether fwd/rev vs strafe should be the same speed etc.
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