Extension research on robot external environment

After having analyzed robot systems, this paper puts forward a matter-element model of robot external environment. This matter-element model is built by sensor data in robot system. The element establishing matter-element model is basic element, which is defined by a branch matter and is regarded as a special matter-element model. The operation + not only produces a new matter-element model between two basic elements, but also produces a new matter-element model between two matter-element models. A system, which is made up of the set of matter-element models and the operation +, constitutes a semigroup. This semigroup is a mathematical model of robot external environment on extenics. The elements in the semigroup can describe various forms of robot external environment, and the relation among these forms, and various shapes of robot system.