I need some help with IK rig

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  04 April 2018
I need some help with IK rig

I'm doing a new rig, and I don't know how to solve this problem.
My robot has a leg with an extra joint. so I would like to have more control over it for my animator.

I would like to place a control where you can see in the picture.

So I could push it to have something like this, maintaining the end of my leg in the original place.

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