Abstract:In order to explore the structure of desktop level joint robot which is suitable for the completion of the game task, the structure, dynamic system and controllers of 5R joint industrial robot has been upgraded. The correct equations of motion were obtained by the analysis of double quaternion method. To get the force balance equations, the Lagrange's method was used. The work space was estimated by simulation software. The proportion integration differential (PID) controller was designed to ensure the accuracy of angle of joint motor. After a simulation experiment, the transformation of the desktop level robot can meet the gaming work.