Overview
first, read the article "Inverse kinematic implementation of four-wheels mecanum drive the mobile robot using stepper motors" second prove the number in table 1 "WHEEL SPEED DATA ACCORDING". For example, with 0 degrees they assume Vx= 0.7m/s Vy=0m/s, w1=w2=w3=w4= 14rad/s but with these numbers how they can get 0 degrees? Please do the proof of origin how you use the velocity and angular velocity to get back to zero degrees , 45 degrees base on the number given.
third, the table only shows 0, 45, 90, 135, and so on ( moving FW,BW,Right, left and diagonal.) but how about 10,20,30,40,50,60,70 degrees. how much speed in Vx, Vy and angular velocity. show how you get these number.
link to read the artica" https://www.researchgate.net/publication/308570348..."
show your answer as clear as possible