In order to realize the inspection of substation indoor and outdoor equipment with only one robot, an omnidirectional four-drive substation inspection robot was developed. The development process of the motion control system of the robot was focused on. The mechanical structure and motion control system structure of the omnidirectional four-drive mobile platform were introduced.The kinematic model of the mobile platform was established. The different motion modes of the omnidirectional four-drive robot were discussed and the control methods were proposed. Finally, the omnidirectional four-drive substation inspection robot was tested, which verified the reliability of the motion control system and the effectiveness of the control method.