The forward/inverse kinematics, trajectory planning and control system for a mobile omni-directional robot are analyzed and implemented. For kinematic analysis each wheel of the robot has been modeled as a "higher pair" joint. Both the forward and inverse kinematic solutions of the robot are dealt with. The trajectory planning for the robot is done on two levels, a global robot trajectory and individual wheel trajectories. A simple, Linear Segment with Parabolic Blends, trajectory is used on the local, wheel level. On the global level the robot can be made to move along higher order trajectories. A PID control system for the robot is implemented for this purpose. Using a hierarchical control scheme the wheel encoder feedback is converted to global motion feedback. This control scheme does not account for wheel slippage.