Please explain, if I don't specify end-effector velocity, and I call inverseDynamics,
torques = inverseDynamics(Manipulator,config),
I get a joints' torque vector to hold the specified configuration mentioned. These are joint velocities, right? I am confused, if velocity is zero, how are the torques being generated? Which method/ equations are used here?
When I multiply the Jacobian with the torques gnerated above, I get the cartesian velocities, which are valid numbers, as I can verify J inverse X cartesian velocities will give me the correct torques generated. But my confusion is, how did we get the torques, and hence the velocities, if the velocities were zero to start with?