Abstract: “Almost six decades ago, the first parallel manipulator designed by Gough V. E. with his team for tire test system, and then Stewart D. designed with different configuration to build a platform with 6 degrees-of-freedom (DOF) as flight simulator. Until today, many researchers are inspired by Gough-Stewart platform with exploit the parallel manipulator potential over serial manipulator. Thus, in this paper, a new model of 6 DOF parallel link manipulator with rotary actuator driven by DC servo motors is fabricate and control using wireless controller integrated with Inertial Measurement Unit (IMU) sensor and campus sensor. The control methods are to orientate the upper platform of parallel manipulator follow the orientation of remote controller. The IMU sensor unit consists of ITG-3200 gyroscope and ADXL345 accelerometer which combine together with HMC5883L magnetometer sensor (compass) to control three axis rotation orientations. In addition, the analog joystick is use to control linear”

Keywords: 6 DOF, Kalman Filter, inverse kinematic