With the continuous development of robot control technology, the way of interaction between human and robot is becoming more convenient and faster. In order to implement the convenience of robot control, a Six Degree of Freedom(6-DOF)robot arm control system is designed based on Kinect V2.0 sensor and natural user interface(NUI). A program was designed to control 6-DOF robot arm using Kinect V2.0 skeleton data in the VS2015 and Kinect SDK2.0 environment. The rotation angle of human shoulder and elbow and hand movements were used to control six joints of a mechanical arm respectively. By means of serial communication, the method, in which Arduino was the core of the lower computer hardware, was verified to be valid. Experiments show that the control system based on NUI can control 6-DOF robot arm to grasp the object effectively and quickly.