Have you tried using the Skin Modifier? It would allow you to bend the “pipe” anywhere (even adding new bends as you see fit), and rotate at any angle without actually rigging. Just a thought.
As far as i can see the skinmodifier came with blender 2.64, because we are using a robot simulation middleware (morse) we are only allowed for using blender 2.61 at the moment. The Idea of using curves is great, but unfortunately i don’t know how to rig meshes in blender with curves. Any idea of a good instruction?