Holonomic Drive System Issues, Robot Drives Diagonally...

[AllenGregoryIV]

Originally Posted by omalleyj

I think you need explain that more clearly. The robot will go at its maximum speed in the direction any pair is going in for the omni@45 arrangement. And .7071 of that speed in the regular front-back side-side directions. The ratio is 1.4, but you give the impression that it will go faster than its wheels are turning, which is impossible in any direction.

I have found that Ether is better at explaining this than me. You can look at the gif that he attached on this page

There are several research papers published on this (mostly for robocup).

Thus, the addition of angled omni-wheels can result in a net body velocity that is greater than the maximum radial velocity of the wheel (Ashmore and Barnes, pg. 7).

That paper goes on to say that by traveling with rotation and in an arch a holonomic robot can travel even faster. We have thought about creating a control scheme that takes advantage of this but it would be very difficult, in the context of a FIRST robot.