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.