Abstract: Describes the syntax and semantics multi-agent systems (MAS) theory and at the same time defines the important properties of the agents. Establishes the system model M based on the criterion L. Based on the model of special assembling robot,describes and analyses the system structure, and presents the conclusion of tests. The results indicate the feasibility of application of MAS in multi-agent robot systems, and that the distributed control mode can improve the system's reliability. The paper puts forward a method with MAS for system modeling and multi-robots in solving problems.