Abstract: The system structure of an automobile chassis inspection robot was introduced. Furthermore the equation of motion state of robot was established and a decoupling controller was designed. The robot with omnidirectional wheel moving mechanism achieved the chassis image acquisition with wireless camera system and employed the active disturbance rejection controller for motion control. The robot has the characters of wide applicability, flexibility of platform movement, the stability of motion state, which can effectively compensate for the lack of traditional inspection methods, and a reasonable design in automobile chassis inspection is proved. The motion equation of state established for omnidirectional four-wheel mobile robot as well as disturbance rejection control method will have certain significance for other designs.

Key words: chassis inspection, equation of state, auto disturbance rejection controller, decoupling control