I'm trying to simulate a 3-DOF robot in SW 2016 Motion Analysis and want to compare the torque with a real robot. But in motion analysis, the torque is the same for up and down, which is not realistic. I also simulated a simple pendulum where a motor lifts the weight up to 90° and lowers it again. Again, the torque is symmetric.

Gravity, mass and inertia are of course taken into account. The pendulum