Because I have each bone restricted to rotate only on the Z-axis, The IK can’t seem to find a good bend and so it glitches into an improper movement. Is there a way to get this to work without the glitches?
Also, any other suggestions for how to improve (or redo) my rig would be greatly appreciated.
IK rotation restriction is done in the IK panel of the bone properties, and you have restricted the rotation in the transform panel. When properly done you will see an arc in pose mode showing you the range of motion