I’ve been tearing my hair out googling around trying to solve this one on my own, but I’m stuck.
Basically, I’ve got what should be just a basic turret/sentry rig set up for the arm. The forearm is set up with an IK constraint and set to track an Empty, while the first bone is just set to limit its rotation so that it doesn’t intersect the socket. The socket copies rotation from the arm to aid the non-intersection.
However, no matter what combination of constraints and limits I put on this, I can’t seem to get it to behave properly. Ideally, to allow full reach, the arm/socket should rotate 90 degrees and the arm should then rotate within to allow a further reach, but I cannot for the life of my figure out how to achieve this.
For reference, I have got the rig to behave like the first picture, but I want to achieve the results of the second
Blend can be found at whyamisohelpless.blend (617 KB)
Any and all help is appreciated