Ahh! I see that you discovered the "CMD_FLING_RECEIVER_RADIO_ACROSS_ROOM" command in the robot scripting language! Nicely done! - dlavery [more]
 Chief Delphi Mecanum and Omni Kinematic and Force Analysis and Programming
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Mecanum and Omni Kinematic and Force Analysis and Programming

#### By: Ether New: 05-20-2010 02:25 AM Updated: 09-16-2014 11:21 PM Total downloads: 53863 times

Mecanum and Omni wheel kinematic and force analysis and programming. Omni vs mecanum force and kinematic comparison. Bump-free mecanum roller profile.

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-----------------Mecanum Kinematic Analysis---------------------------

Given a desired vehicle motion, shows how to calculate
the necessary mecanum wheel speeds to achieve that motion.

--------------Mecanum Force Vector Analysis--------------------------

explains the forces and torques acting on a mecanum wheel,
and why a mecanum vehicle has less traction

----------Mecanum Programming: Single and Double Joystick------------

--------------Halo Auto-Rotate (Halo-AR) Driver interface--------------

A single 2-axis joystick does field-centric control of forward/reverse
and strafe right/left motion, while the robot automatically and
simultaneously rotates to face the direction it is commanded.

----------------Omni vs Mecanum Forces and Kinematics-----------------

------------------Omni Rotation Calculator---------------------------

Calculates the required speeds of each of the 4 omni wheels to achieve
rotation about an arbitrary center of rotation (which may be located
outside the robot frame).

-------------Omni rotation derivation of equations-----------------

shows how the equations used in the omni rotation calculator were derived.

--------------- "Bump-Free" Mecanum Roller Design------------------------

how to profile a mecanum roller so that it is "bump-free",
ie it conforms to the circular circumference of the wheel

equations for "bump-free" mecanum roller profile RevC:

bump-free mecanum roller equations (alternate derivation):

Win32 "bump-free" mecanum roller profile calculator:

mecanum roller design calculator:

parabolic profile roller projection to XY plane forms circular arc:

roller profile parabola vs ellipse comparison:

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# Re: paper: Mecanum and Omni Kinematic and Force Analysis

Excellent paper, though maybe a little heavy-duty for most HS students.

# Re: paper: Mecanum and Omni Kinematic and Force Analysis

These are awesome, not too heavy for me (student)!

# Re: paper: Mecanum and Omni Kinematic and Force Analysis

Thanks, these are really useful! Is there any way I can cite them?