i've built a model of the two robot arms and an environment and the more i thought about rigging it the more i realized i had no idea how to really go about it. i want to use i/k however i can't figure aout how to tell the system that joint 'a' can only rotate on it's y axis while joint 'b' rotates on it's z axis, etc.
basiclly how do you use rotational constraints (limiting the rotation not adding maya 'constraints') with i/k?
or am i even moving in the right direction? should i use a chain of 2-joint i/k? something else entirely?
i've done a little digging and haven't found anything too useful.
any and all help is appreciated.