The invention provides a multifunctional six-axis manipulator. The multifunctional six-axis manipulator comprises a base, an upper arm, a lower arm, a first rotating seat, a second rotating seat, a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, a fifth transmission mechanism and a sixth transmission mechanism. The whole manipulator structure adopts aluminium alloy castings, the weight of the manipulator is reduced, the motor load is reduced, a high-precision harmonic reducer is arranged on each of the six axes, a first-axis servo motor, a second-axis servo motor, a third-axis servo motor and a sixth-axis servo motor and the reducers are directly connected, errors are effectively reduced, and the precision is improved. An automatic compensation module monitors dynamic feedback of the servo motors at any time for position correcting compensation. The performance of the servo motors is optimized by adjusting internal parameters of drivers, so that the servo motors can work stably. A control system sends various pulse commands to the servo drivers through efficient and accurate calculation so as to control the manipulator to complete various actions efficiently and accurately, and the accuracy is improved.