Non-Holonomic drive configurations include any configuration with less controlled degrees of freedom than total degrees of freedom. For the purposes of VEX drive bases, the total degrees of freedom is typically 3, translation in X, translation in Y, and rotation within the XY plane, about Z. Some common examples of Non-Holonomic drive configurations are below.
A Holonomic drive configuration is one in which the controlled degrees of freedom exactly equals the total degrees of freedom. Some examples of Holonomic drive configurations are below.