Sharif University of Technology Scientia Iranica 1026-3098 17 5 2010 10 01 Adaptive Decoupling for Open Chain Planar Robots 3336 EN S. Azadi Department of Mechanical Engineering,Khajeh Nasire Toosi University of Technology M. Moradi Department of Mechanical Engineering,Khajeh Nasire Toosi University of Technology A. Nikoobin Department of Mechanical Engineering,Iran University of Science and Technology Journal Article 2010 11 03 Decoupling of dynamic equations in robotic mechanisms has attracted many researchers in the recent years. This kind of decoupling can be achieved by modifying the original kinematic structure through the use of counterweights attached to the moving links. Therefore, the robotic control becomes easier due to reducing the coupling disturbances. In this paper, dierent methods of decoupling including the static balancing, Coriolis and centripetal force eliminating and dynamic balancing are introduced and their concepts are described based on Lagrange-Euler equations. The systematic adaptive approach is proposed for any open-chain planar robots whose links are connected by revolute joints. The method is tested for two-link and three-link manipulator. The results indicate that the system is fully-decoupled and simple classical approach is sucient to control it. https://scientiairanica.sharif.edu/article_3336_98bd65207ee83bfd17ebb0db971eddf9.pdf