Abstarct: The main activities in this research are the complete simulation of the kinematics, dynamics, and the control of the spatial manipulator. The robot is in accordance with the “European Robotic Arm” Mechanism and similar space robots, with seven rotational degrees of freedom in its joints. Its movement is in the three-dimensional space and reaching its endpoint is according to the orientation and coordinates of the body or its desired path, which was the main purpose of this study. Therefore, it was necessary to completely study the workspace in order to achieve the inverse kinematics and transfer operations. A new algorithm for Inverse kinematics and a method for transmission is presented, and forward kinematics and all the topics of this section are obtained by utilizing the Rotational matrices in the 3D coordinates. The equations are derived from a 7-degree freedom robotics system which is very long and complex itself, so the way they are achieved and their correctness are essential. The dynamic equations of the robot are obtained with the Lagrange method and its correctness is proved using the dynamic simulator. With the help of kinematic and dynamical equations, a control system can be presented, therefore, with respect to the uncertainties in the system and the external disturbances as well as the viscous friction of the joints, a robust control can satisfy the control objectives. In this regard, several nonlinear robust control models are tested on the robot system. In general, the robust control is designed in two models “sliding mode” and “uncertain estimating”. This robot uses two grippers at the two ends of the manipulator, which can carry out various activities. Therefore, the mechanism and the type of gripper were important for this robot, and in the papers related to the European Space Robot, Gripper's performance has gained more attention towards itself. Therefore, a suitable gripper for different applications was designed and constructed for this robot and it is compared to a similar commercial model at the end of this article. In this paper a wide range of important robotic subjects has been studied in details.