Sahiner B.Kazaz M.Ugurlu H.H.2025-04-102025-04-102016http://hdl.handle.net/20.500.14701/48891In this paper we study the motion of a robot end-effector by using the curvature theory of a dual unit hyperbolic spherical curve which corresponds to a timelike ruled surface with timelike ruling generated by a line fixed in the end-effector. In this way, the linear and angular differential properties of the motion of a robot end-effector such as velocities and accelerations which are important information in robot trajectory planning are determined. Moreover, the motion of a robot end-effector which moves on the surface of a right circular hyperboloid of one sheet is examined as a practical example. © 2016, University of Nis. All rights reserved.Article10.2298/FIL1603791S