Hi guys! Maybe this is a little too much to sak for, but if you don't ask you not gonna know

Okay here we go. I am currently working on my first ever rigging project.
I wanna point out that I'm a subscriber at "Digital-tutors" and I've spent alot of hours watching rigging tutorial videos and searched the web. But I can't for my lift get this rig too behave in the way that I want it to.

Let my try explain sa best as I can (I'm refering to the 2 pictures below) and sorry for my english.

What I'm tying to accomplish is to get the Robotic arm to behave just like a real robotic arm (like KUKA's industry robots).

#1: I want the joint 6 to be controlled by a IK handle and that the rest of the joints limited to rotate only in the axis specified in picture 1. And that joint 1-2-3-4-5-6 rotate so that the "Gripper thing" (the hand of the robotic arm) always is kept in level, 90 degree angle like it is in picture 1 when conrtolling the IK Handle. And also that joint 2-3-4-5-6 always keep there joint orientation independent of each other regardless of which joint orientation joint 1 have.

#2: How do I create a control for the "gripper" so I can move the grippers in and out? Do I ues joint 7 for that or do I need to create new joints?

#3: And lastly, how do I set up the traverse crane so that when I move "number 2" (See picture 2) in the X axis, only the robot moves. And when I move "number 1" in the Z axis "number 1" and "number 2"/robot moves together?

I would really really appreciate if someone could take some time to explain these things to me. I really need some help on these qusetions.

Thanks in advace!

//KoadRilL

Picture 1:
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Picture 2:
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