Today every small and enormous industry use a robotic manipulator to complete various task like picking and placing, welding process, painting, and material handling but to finish these tasks one among the foremost important problems is to induce the specified position and orientation of the robotic manipulators. Humanoid robots have fascinated people ever since they were invented robots. Kinematics of a robot arm deals with the geometry of motion concerning a set reference arrangement without relation to the effect of forces. There are two methods for analyzing the robotic manipulator one is that the forward kinematic analysis and another is inverse kinematic analysis. This project aims to model the forward and inverse kinematic of the 7 DOF robotic manipulator. The inverse Kinematics problem and obtaining its solution is one among the foremost important problems in robotics. it's quite complex, because of its non-linear formulations and multiple solutions. The forward kinematics of 7DOF is calculated using SimMechanics.