Creating points for robot (End Effector) to go through them

Hi everyone.

I'm trying to create an environment, whereby the user would be able to save desired points (Button: Save Points) within the 3D space and once that is done, the end effector would go through said points (Button: Go). Somehow the issue I'm facing is that the robot's joint gets distorted after each iteration. Attached below is the image (Creating point 1-4) and code for the path teaching (To save points and go through them).

Would appreciate any help and thanks in advance.

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.UI;
  
 public class simPTP : MonoBehaviour
 {
     public GameObject Part1, Part2, Part3, Part4, Part5, Part6;
     public float time = 1.0f;
     Quaternion[] memy1Array = new Quaternion[5];
     Quaternion[] memy2Array = new Quaternion[5];
     Quaternion[] memy3Array = new Quaternion[5];
     Quaternion[] memy4Array = new Quaternion[5];
     Quaternion[] memy5Array = new Quaternion[5];
     Quaternion[] memy6Array = new Quaternion[5];
     int memPoints = 0;
  
     public void SavePoint()
     {
         //saves position, up to a maximum of 5
         if (memPoints < 5)
         {
             memy1Array[memPoints] = Part1.transform.localRotation;
             memy2Array[memPoints] = Part2.transform.localRotation;
             memy3Array[memPoints] = Part3.transform.localRotation;
             memy4Array[memPoints] = Part4.transform.localRotation;
             memy5Array[memPoints] = Part5.transform.localRotation;
             memy6Array[memPoints] = Part6.transform.localRotation;
  
             memPoints++;
         }
     }
  
     public void GoThroughPoints()
     {
         /*if (time.text != null)
         {
             StartCoroutine(RotateMe(float.Parse(time.text)));
         }*/
         StartCoroutine(RotateMe(time));
     }
    
     IEnumerator RotateMe(float inTime)
     {
         for (int i = 0; i < memPoints; i++)
         {
             Quaternion Angle1 = Part1.transform.localRotation;
             Quaternion Angle2 = Part2.transform.localRotation;
             Quaternion Angle3 = Part3.transform.localRotation;
             Quaternion Angle4 = Part4.transform.localRotation;
             Quaternion Angle5 = Part5.transform.localRotation;
             Quaternion Angle6 = Part6.transform.localRotation;
  
             for (float t = 0f; t < 1f; t += Time.deltaTime / inTime)
             {
                 Part1.transform.localRotation = Quaternion.Lerp(Angle1, memy1Array[i], t);
                 Part2.transform.localRotation = Quaternion.Lerp(Angle2, memy2Array[i], t);
                 Part3.transform.localRotation = Quaternion.Lerp(Angle3, memy3Array[i], t);
                 Part4.transform.localRotation = Quaternion.Lerp(Angle4, memy1Array[i], t);
                 Part5.transform.localRotation = Quaternion.Lerp(Angle5, memy2Array[i], t);
                 Part6.transform.localRotation = Quaternion.Lerp(Angle6, memy3Array[i], t);
  
                 yield return null;
             }
         }
     }
  
     // Start is called before the first frame update
     void Start()
     {
        
     }
  
     // Update is called once per frame
     void Update()
     {
        
     }
 }