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Hey, Fex32!

Thank you for MIT's links. I'll look them through. But looks like that complicated theory is more about multi-joint assemblies, like robot arms and manipulators.
There are a couple of drives and wheels to move my bot and no plans to land it on Mars. I believe simplified method will do. It's also implemented in Drive Motor Sizing Tool http://www.robotshop.com/dc-motor-selection.html