Is it possible to keep the hands/feet in the same position while moving the body?

I have found that I can deselect “Inherit rotation” in the bone’s properties, but in some ways if I move the body, the hands and the feet move a bit anyway, just they don’t rotate.
So how to do this? Imagine that the character grabbles a ledge and he moves the body, but the hands are still anchorated to the ledge, like being pivot points for a while. How to do similar things?

throw hands and feet all on ik.

Oh right! It gives better results, even if it doens’t work completely. I have applied IK on the lower arm, and the hand/wirst bone is the target. Chain lenght 2, so lower arm + upper arm (not including the clavicle). The clavicle has the “inherit rotation” deactivated, so when I move the spine bones the clavicle stays still as rotation, but not as location, so it results that the arm and the hand rotate anyway, even if the hand stays in the same location.
How to prepare it better?