# Atan2 function inverse kinematics

1. Mar 30, 2012

### fmsrat

1. The problem statement, all variables and given/known data

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.

2. Relevant equations

3. The attempt at a solution
1. The problem statement, all variables and given/known data

2. Relevant equations

3. The attempt at a solution