In view of the very popular robot technology, relying on the existing resources of the laboratory, a small six degree of freedom (DOF) robot arm system is built. The 6-DOF robot arm system consists of five modules: power supply and conditioning module, MCU control module, mechanical structure of 6-DOF robot arm, attitude control Bluetooth handle, 720p high-definition camera module. Subsequently, through the forward kinematics and inverse kinematics analysis of the manipulator system based on D-H model, the attitude control of the manipulator is further strengthened. Finally, through SP2 Bluetooth handle and Zide_Mini (v1.33) upper computer control software realizes the precise control of the 6-DOF manipulator system. The above research has laid the most important foundation for the further research of the robot arm system.