I have been woking on a 6DOF manipulator. So, I have calculated torques using lagrange's equation of motion for each joint. So, when I use these values as input for which I am expecting motion of a particular joint to be in anti-clockwise motion, but it turned out to be clockwise. I tried by changing the sign of input, but that did not change the any effect. So, can anyone please tell me where I am doing wrong?
And for my robot, there is some configuration for which at that particular joint in static conditions that is at time = 0; there must be some value of torque for which the robot can be in that configuration with falling due to gravity. So, why the measured values from the joint values using total torque is actually zero instead of some torque value?