The thesis arises from the need of the robotics company Comau to address the issue of dynamic inertial coupling between the links of a robotic manipulator. This study aims to analyze the theory and experimentally validate the application of diagonalization techniques for the dynamic model of an industrial robotic manipulator, based on the design of a pre-compensator acting on the robotic plant. This decoupling compensator allows the implementation of independent joint control, treating each link as a SISO subsystem, thereby simplifying the controller synthesis and improving tracking accuracy. In particular, the thesis explores different decoupling strategies in both the time domain and the frequency domain.