This article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. A modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. The polynomial function which is smooth and continuous in displacement. velocity. https://www.spidertattooz.com/Gruvi-Golden-Lager-Non-Alcoholic-6PKC-12-OZ/