We predict a mechanism to controllably manipulate domain walls in kagome antiferromagnets via a single linearly polarized spin-wave source. We show by means of atomistic spin dynamics simulations of antiferromagnets with kagome structure that the speed and direction of the domain wall motion can be regulated by only tuning the frequency of the applied spin wave. Starting from microscopics, we establish an effective action and derive the corresponding equations of motion for the spin-wave-driven domain wall. Our analytical calculations reveal that the coupling of two spin-wave modes inside the domain wall explains the frequency-dependent velocity of the spin texture. Such a highly tunable spin-wave-induced domain wall motion provides a key component toward next-generation fast, energy-efficient, and Joule-heating-free antiferromagnetic insulator devices.