Abstract: To improve the task completion efficiency of the omni-directional mobile manipulator (ODMM), timing motion planning and control strategy based on absolute positioning (TMPCSAP) is proposed. Firstly the CAN bus is used in the control structure, and in this way the control accuracy and response speed of ODMM can be improved. Secondly the control of ODMM about omni-directional motion, point-turn motion and mechanical arm’s motion is studied. Thirdly ultrasonic-timing-absolute-positioning is used in the control strategy of TMPCSAP to adjust and optimize the control variable, and in this way the task completion efficiency can be improved. Finally three experiments are done; two motion accuracy experimental results show that the motion accuracy of ODMM is high; one control strategy experimental result confirms the validity of the control strategy of TMPCSAP.

Key words: omni-directional-mobile robot control, strategy of motion planning and control, omni-directional motion, point-turn motion, absolute positioning