The use of a Simple constraint in a IK- context can be confusing – specially in a robot arm like setup, when the end-effector is IK-constrained to a Simple-constrained moving point: a clarification.
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If you feel the urge to experiment, the Rhino model is available on http://files.na.mcneel.com/bongo/2.0/samples/RoboSnake.3dm
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