THE BASICS
An omni wheel can move forwards, backwards, and perpendicularly to the left and right, and it can combine these motions simultaneously.
This allows omni-wheels to move at any angle in the horizontal plane.
You can calculate the movement with vectors where you combine the primary and secondary movement vectors to arrive at the aggregate vector, which describes the path of movement.
With this method you can not only address the direction and distance, but you can address time and distance too.
Further, if the speed varies in the form of acceleration or deceleration of either the primary or secondary movement, the wheel will move in a curve, which can also be described with vectors.
CHANGE DIRECTION WITHOUT TURNING
Please note that in order to describe a curve, an omni wheel does not need to turn.
The wheel can describe the linear or curved vector while remaining in the original orientation.
It can maintain its original direction by delegating the change of direction to
the roller motion while maintaining the original motion.
What changes is the amount of rotation occurring in the primary and secondary direction. The vectors expressing speed illustrate this.
If you want to know more or have any questions, please let me know.
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