Is doing a set amount of repetitions for a workout better in comparison to doing as many as you can?

Usually for my workout I just do as many repetitions as I can until I can do no more. Then I switch to another muscle group, do the same thing to that muscle group, and return to the other muscle groups I worked out first after they have had some rest and repeat the rotation. I repeat this process till my muscles are burnt out and I can can no longer do any more repetitions. Would it be better to have a set amount of repetitions and number of sets, rather than just simply working out your muscles till you can no more? Thank you in advance for any help.