Atan2 function inverse kinematics

[fmsrat]

Homework Statement

Hello, i am trying to achieve inverse kinematics of a spherical manipulator (three revolutes in orthogonal axes) and the first angle (from geometry) is determined by something like this θ₁=atan2(x,y) (i use maple so the function is something like θ₁=arctan(y,x)); when i plot the function of θ with respect of time it seems to cut at some point(i think -180°) then a discontinuity appears and start again at 180°; the link related to \theta_{1} make several turns so the angle is always decreasing. I hope you can help me to figure out a solution to plot this angle so it follows a straight decreasing line.

Homework Equations

The Attempt at a Solution

 

[Valkarie]

It is possible to solve this problem by using a modulo or remainder operator. A modulo operation will take the value of a variable, divide it by a given number and return the remainder. In this case, the variable is θ1 and the given number is 360°. This means that whenever the value of θ1 exceeds 360°, it will be divided by 360° and the remainder will be used as the new angle. This way, the angle will always remain within the range of -180° to 180°.