Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics. requiring an advanced controller in order to track a specific trajectory. In this work. forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolati... https://parisnaturalfoodes.shop/product-category/ezekiel-cereal-almond/