A static anti-integrator-windup controller design method that employs gravity compensation is proposed for Euler-Lagrange systems with actuator saturation. A condition caused by gravity compensation is introduced so that asymptotic stability of the equilibrium state is achieved for proportional and integral set positioning control based on passivity and Lyapunov theory. The semi-optimality of the proposed anti-windup control system is examined using an estimation function for actuator saturation. Numerical simulations and experiments confirm the control performance and semi-optimality of a two-link robot arm.