diff --git a/irteus/test/angle-vector-min-max.l b/irteus/test/angle-vector-min-max.l
new file mode 100644
index 000000000..fcf2b3a53
--- /dev/null
+++ b/irteus/test/angle-vector-min-max.l
@@ -0,0 +1,105 @@
+;; test code for angle-vector with min-max
+
+(require :unittest "lib/llib/unittest.l")
+(init-unit-test)
+
+;; setup sample robot
+(defclass 2dof-robot
+  :super robot-model
+  :slots (end-coords l1 l2 l3 j1 j2))
+(defmethod 2dof-robot
+  (:init ()
+         (send-super :init)
+         (setq l3 (send self :make-link (make-cube 40 40 80) #f(0 0 40) :read 'l3))
+         (setq end-coords (make-cascoords :pos #f(0 0 80)))
+         (send l3 :assoc end-coords)
+         (send l3 :locate #f(0 0 10))
+         ;;                                                                                                               
+         (setq l2 (send self :make-link (make-cube 60 60 10) #f(0 0 5) :blue 'l2))
+         (send l2 :assoc l3)
+         (send l2 :locate #f(0 0 80))
+         ;;                                                                                                               
+         (setq l1 (send self :make-link (body+ (make-cube 30 20 80 :pos #f(0 0 40))
+                                               (make-cube 300 300 2)) #f(0 0 0) :white 'l1))
+         (send l1 :assoc l2)
+         (setq j1 (instance rotational-joint :init :parent-link l1 :child-link l2 :axis :z
+                            :min-angle -90 :max-angle 90)
+               j2 (instance rotational-joint :init :parent-link l2 :child-link l3 :axis :y
+                            :min-angle -90 :max-angle 90))
+         ;;                                                                                                               
+         (setq links (list l1 l2 l3) joint-list (list j1 j2))
+     (send self :init-ending)
+     self)
+  (:make-link (b off color name)
+     (send b :locate off) (send b :set-color color)
+     (instance bodyset-link :init (make-cascoords) :bodies (list b) :name name))
+  ;;                                                                                                                      
+  (:j1 (&rest args) (forward-message-to j1 args))
+  (:j2 (&rest args) (forward-message-to j2 args))
+  (:end-coords (&rest args) (forward-message-to end-coords args))
+  )
+
+(setq *robot* (instance 2dof-robot :init))
+(objects (list *robot*))
+
+
+;; test angle-vector without min-max
+(defun test-joint-common
+  (&key (margin 0))
+  (let* ((j1-min-orig (send *robot* :j1 :min-angle)) (j2-min-orig (send *robot* :j2 :min-angle))
+	 (j1-max-orig (send *robot* :j1 :max-angle)) (j2-max-orig (send *robot* :j2 :max-angle))
+	 tmpj2-j1
+	 tmpj1-j2)
+    (do ((x j1-min-orig (+ x 5)))
+	((> x j1-max-orig))
+      (do ((y j2-min-orig (+ y 5)))
+	  ((> y j2-max-orig))
+	(send *robot* :j2 :joint-angle y)
+	(send *robot* :j1 :joint-angle x)
+	(setq tmpj2-j1 (send *robot* :angle-vector))
+	(send *robot* :angle-vector (float-vector x y))
+	(assert (eps-v= (send *robot* :angle-vector) tmpj2-j1 0.01) (format nil "check angle-vector match (v= ~A ~A)" (send *robot* :angle-vector) tmpj2-j1))
+	(send *robot* :j1 :joint-angle x)
+	(send *robot* :j2 :joint-angle y)
+	(setq tmpj1-j2 (send *robot* :angle-vector))
+	(send *robot* :angle-vector (float-vector x y))
+	(assert (eps-v= (send *robot* :angle-vector) tmpj1-j2 0.01) (format nil "check angle-vector match (v= ~A ~A)" (send *robot* :angle-vector) tmpj1-j2))
+	(send *irtviewer* :draw-objects)
+	))))  
+
+;; test angle-vector with min-max
+(defun test-make-joint-min-max-table-common
+  (&key (margin 0)) ;; [deg]
+  (let* ((j1-min-orig (send *robot* :j1 :min-angle)) (j2-min-orig (send *robot* :j2 :min-angle))
+	 (j1-max-orig (send *robot* :j1 :max-angle)) (j2-max-orig (send *robot* :j2 :max-angle))
+	 tmpj2-j1
+	 tmpj1-j2)
+    (send *robot* :self-collision-check)
+    (send *robot* :make-joint-min-max-table
+    	  (send (send *robot* :j1) :parent-link) (send (send *robot* :j2) :child-link) (send *robot* :j1) (send *robot* :j2)
+    	  :margin margin)
+    (do ((x j1-min-orig (+ x 5)))
+	((> x j1-max-orig))
+      (do ((y j2-min-orig (+ y 5)))
+	  ((> y j2-max-orig))
+	(send *robot* :j2 :joint-angle y)
+	(send *robot* :j1 :joint-angle x)
+	(setq tmpj2-j1 (send *robot* :angle-vector))
+	(send *robot* :angle-vector (float-vector x y))
+	(assert (eps-v= (send *robot* :angle-vector) tmpj2-j1 0.01) (format nil "check angle-vector match (v= ~A ~A)" (send *robot* :angle-vector) tmpj2-j1))
+	(send *robot* :j1 :joint-angle x)
+	(send *robot* :j2 :joint-angle y)
+	(setq tmpj1-j2 (send *robot* :angle-vector))
+	(send *robot* :angle-vector (float-vector x y))
+	(assert (eps-v= (send *robot* :angle-vector) tmpj1-j2 0.01) (format nil "check angle-vector match (v= ~A ~A)" (send *robot* :angle-vector) tmpj1-j2))
+	(send *irtviewer* :draw-objects)
+	))))
+
+(deftest test-joint-common-margin-0deg
+  (test-joint-common :margin 0))
+
+(deftest test-make-joint-min-max-table-margin-0deg
+  (test-make-joint-min-max-table-common :margin 0))
+
+(run-all-tests)
+(exit)