中文摘要：

为了提高机器人运动控制的精度和机器人智能化的程度，基于传统机器人和移动机器人的优缺点的比较，通过对三轮全向机器人的硬件结构和运动学分析，得出了三轮全向移动机器人的运动控制模型，并结合移动机器人分布式结构的特点设计了一种三轮全向机器人的软件模型。通过对三轮全向移动机器人进行实际运动控制测试，校正了三轮移动机器人的运动学方程，有效的验证了软件模型的正确合理性，提高了移动机器人的运动效果。

英文摘要：

In order to improve the precision of robot motion control and the degree of robotic intelligence, after the advantages and disadvantages of mobile robots and traditional robots are compared, the motion control model of the three omni-directional wheels mobile robot＇s obtained through its hardware strueture and kinematics analysis. Also, a three omni-directional wheels robot is obtained software model with the help of the characteristics of mobile robot distributed structure is designed. Finally, by the actual motion control test of the three omni-directional wheels mobile robot, the kinematics equation of the three omni-directional wheels robot is ealibrated, the correctness and rationality of software model is effectively verified, and the robot motion effect is enhanced.