All-Directional Plane Positioning System

This is an omnidirectional planar positioning system applied to the chassis of a robot, capable of achieving planar positioning functionality for the robot. It uses two orthogonally arranged omni-directional wheels as encoder wheels, and a tension spring (not shown in the model diagram, but present in the rendered and real images) to ensure the encoder wheels remain in contact with the ground at all times. The encoder is an optical encoder, and the optical readhead sends signals to the controller, which then passes the signals to the higher-level control system.