diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
index 04831275148f2f28d0a96351712235f7d9d1bd23..6fd4b400cd1fac24e91c30a22da1f635e686d130 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
@@ -48,7 +48,7 @@ class Forward_Kinematics_Node_3Dof(Node):
         d_fraction = self.phi * d
 
         # Define the vector
-        vector = np.array([-1.0, 0.0, 0.0, 1.0])
+        strart_vector = np.array([-1.0, 0.0, 0.0, 1.0])
 
         # Define the matrix
         intermediate_translation = np.array([
@@ -59,18 +59,18 @@ class Forward_Kinematics_Node_3Dof(Node):
         ])
         
         # Calculate the intermediate vectors
-        intermediate_vector = np.matmul(intermediate_translation, vector)
+        intermediate_vector = np.matmul(intermediate_translation, strart_vector)
 
         self.construct_path(intermediate_vector)
 
-    def construct_path(self, vector_path):
+    def construct_path(self, vector):
         # RViz
         pose = PoseStamped()
         pose.header.frame_id = "map"
         pose.header.stamp = self.get_clock().now().to_msg()
-        pose.pose.position.x = vector_path[0]
-        pose.pose.position.y = vector_path[1]
-        pose.pose.position.z = vector_path[2]
+        pose.pose.position.x = vector[0]
+        pose.pose.position.y = vector[1]
+        pose.pose.position.z = vector[2]
         pose.pose.orientation.w = 1.0
 
         #If the path is completed clear it
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
index bda75e6cff3cf064ed6c6f8a49713d6b9a56a06d..b770add34626abbb4c7e95e8bb58d93b169e6b52 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
@@ -75,7 +75,7 @@ class Forward_Kinematics_Node_3Dof(Node):
         d_fraction = self.phi * d
 
         # Define the vector
-        vector = np.array([-1.0, 0.0, 0.0, 1.0])
+        start_vector = np.array([-1.0, 0.0, 0.0, 1.0])
 
         # define translation matrix
         intermediate_translation = np.array([
@@ -93,22 +93,22 @@ class Forward_Kinematics_Node_3Dof(Node):
         ])
 
         # calculate the intermediate vectors
-        translated_vector = np.matmul(intermediate_translation, vector)
+        translated_vector = np.matmul(intermediate_translation, start_vector)
 
         # calculate the end vector
-        self.end_vector = np.matmul(translation_matrix, vector)
+        self.end_vector = np.matmul(translation_matrix, start_vector)
 
         # construct the path of the translation
         self.construct_path(translated_vector)
 
-    def construct_path(self, vector_path):
+    def construct_path(self, vector):
         # RViz
         pose = PoseStamped()
         pose.header.frame_id = "map"
         pose.header.stamp = self.get_clock().now().to_msg()
-        pose.pose.position.x = vector_path[0]
-        pose.pose.position.y = vector_path[1]
-        pose.pose.position.z = vector_path[2]
+        pose.pose.position.x = vector[0]
+        pose.pose.position.y = vector[1]
+        pose.pose.position.z = vector[2]
         pose.pose.orientation.w = 1.0
 
         #If the path is completed clear it
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
index 1bd8bf68f373a4d01ef6fe6c56fd2553434c725d..e302fd129f2cac529d85ecadf3e60382d639d724 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
@@ -55,7 +55,7 @@ class Forward_Kinematics_Node_3Dof(Node):
         h_fraction = self.phi * h
 
         # Define the vector
-        vector = np.array([-1.0, 0.0, 0.0, 1.0])
+        start_vector = np.array([-1.0, 0.0, 0.0, 1.0])
 
         # define the matrix
         intermediate_translation = np.array([
@@ -73,9 +73,9 @@ class Forward_Kinematics_Node_3Dof(Node):
         ])
         
         # calculate the intermediate vectors
-        rotated_intermediate_vector = np.matmul(intermediate_translation, vector)
+        rotated_intermediate_vector = np.matmul(intermediate_translation, start_vector)
 
-        self.end_vector = np.matmul(translation_matrix, vector)
+        self.end_vector = np.matmul(translation_matrix, start_vector)
 
         # construct the path of the rotation
         self.construct_path(rotated_intermediate_vector)
@@ -100,14 +100,14 @@ class Forward_Kinematics_Node_3Dof(Node):
         # construct the path of the translation
         self.construct_path(rotated_vector)
 
-    def construct_path(self, vector_path):
+    def construct_path(self, vector):
         # RViz
         pose = PoseStamped()
         pose.header.frame_id = "map"
         pose.header.stamp = self.get_clock().now().to_msg()
-        pose.pose.position.x = vector_path[0]
-        pose.pose.position.y = vector_path[1]
-        pose.pose.position.z = vector_path[2]
+        pose.pose.position.x = vector[0]
+        pose.pose.position.y = vector[1]
+        pose.pose.position.z = vector[2]
         pose.pose.orientation.w = 1.0
 
         #If the path is completed clear it