Ayyildiz, NihatTurhan, Tunahan2020-03-262020-03-2620121015-8634https://dx.doi.org/10.4134/BKMS.2012.49.3.635https://hdl.handle.net/20.500.12395/27697In this study, we investigate the curvature functions of ruled surface with lightlike ruling for a null curve with Cartan frame in Minkowski 3-space. Also, we give relations between the curvature functions of this ruled surface and curvature functions of central normal surface. Finally, we use the curvature theory of the ruled surface for determine differential properties of a robot end-effector motion.en10.4134/BKMS.2012.49.3.635info:eu-repo/semantics/openAccessrigid bodynull scrollCartan frameFrenet formulaestriction curveArticle493635645Q3WOS:000304975900015Q4