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Mecanum Wheel 4WD Omnidirectional Mobile Robot Kinematics Calculator

Easily calculate and compute mecanum wheel 4wd omnidirectional mobile robot kinematics calculator with accurate equations, live formulas, and expert guidance.

Forward/backward robot velocity.

Sideways strafing robot velocity.

Spin turn rate about vertical axis.

Distance from center of robot to wheel axle.

Distance from centerline of robot to wheel centerline.

Effective radius of mecanum wheels.

Calculated Result
-3.2 RPM

Front-Left RPM

Front-Left RPM

-3.2 RPM

Front Left Wheel Rpm

-3.2

Front Right Wheel Rpm

156

Rear Left Wheel Rpm

98.7

Rear Right Wheel Rpm

54.1

-3.2 — RPM

Calculation Breakdown

  1. Applied FormulaSolves the 3-DOF omnidirectional inverse kinematics matrix for a 4-wheel Mecanum mobile base, converting simultaneous longitudinal, lateral strafe, and yaw rotation into individual wheel motor speeds.\begin{bmatrix} \omega_1 \\ \omega_2 \\ \omega_3 \\ \omega_4 \end{bmatrix} = \frac{1}{R} \begin{bmatrix} 1 & -1 & -(a+b) \\ 1 & 1 & (a+b) \\ 1 & 1 & -(a+b) \\ 1 & -1 & (a+b) \end{bmatrix} \begin{bmatrix} v_x \\ v_y \\ \omega_z \end{bmatrix}

Mecanum 4WD Kinematics Metric Output

Interactive visualization based on your current inputs

Calculated Value
-3.2-2.2-1.1-0.01.0Front-Left RPM

What Is the Mecanum Wheel 4WD Omnidirectional Mobile Robot Kinematics Calculator?

This tool computes mecanum wheel 4wd omnidirectional mobile robot kinematics calculator with high precision arithmetic.

How Does the Mecanum Wheel 4WD Omnidirectional Mobile Robot Kinematics Calculator Work?

Solves the 3-DOF omnidirectional inverse kinematics matrix for a 4-wheel Mecanum mobile base, converting simultaneous longitudinal, lateral strafe, and yaw rotation into individual wheel motor speeds.

Mecanum Wheel 4WD Omnidirectional Mobile Robot Kinematics Calculator Formula & Variables

The core mathematical equation utilized by this calculator is expressed as:

[ω1ω2ω3ω4]=1R[1−1−(a+b)11(a+b)11−(a+b)1−1(a+b)][vxvyωz]\begin{bmatrix} \omega_1 \\ \omega_2 \\ \omega_3 \\ \omega_4 \end{bmatrix} = \frac{1}{R} \begin{bmatrix} 1 & -1 & -(a+b) \\ 1 & 1 & (a+b) \\ 1 & 1 & -(a+b) \\ 1 & -1 & (a+b) \end{bmatrix} \begin{bmatrix} v_x \\ v_y \\ \omega_z \end{bmatrix}

Solves the 3-DOF omnidirectional inverse kinematics matrix for a 4-wheel Mecanum mobile base, converting simultaneous longitudinal, lateral strafe, and yaw rotation into individual wheel motor speeds.

How to Use the Mecanum Wheel 4WD Omnidirectional Mobile Robot Kinematics Calculator

  1. Enter your parameters into the designated input fields to calculate the result immediately.

Step-by-Step Example Calculation

Mecanum Wheel 4WD Omnidirectional Mobile Robot Kinematics Calculator Example

Input Values:

desiredVelocityXMPerS:0.6
desiredVelocityYMPerS:0.4
desiredAngularYawRateRadS:0.5
robotChassisLengthMeters:0.25
robotChassisWidthMeters:0.2
mecanumWheelRadiusMeters:0.075
Worked Steps: Sample evaluation based on standard reference conditions.

Understanding Your Result

The calculated primary figure indicates the optimal or required RPM.

Factors That Affect the Result

  • Measurement tolerances, operational variance, and real-world conditions.

When Should You Use This Calculator?

  • Everyday budgeting, technical homework, professional estimation, and household projects.

Assumptions & Limitations

  • Assumes standard atmospheric or environmental parameters unless specified.

Frequently Asked Questions

Calculation Accuracy & Reference Note

Double-precision IEEE 754 arithmetic with validated empirical constants.

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