In this study, the mathematical model of rigid connection between omni-directional mobile robot and dish transportation tray was established, and its transfer function was calculated. The impact interference of the object subjected to inertia force and friction force on the system performance was analyzed, and the method of using series PID controller for correction was proposed. Through theoretical and empirical formula calculation, the optimal control system and the optimal system waveform were obtained. The simulation results showed that the rigid connection between omni-directional mobile robot and tray on overhead track was better, and the efficiency of dish transportation was improved. It had great reference value for the performance analysis of mobile robot with mcnamb wheel as walking system.