Hmmmmm...

So my robots have more joints than the one we made in lessons, and I'm wondering how much it will effect the ik chain. I applied it in two different ways to compare them.

-With the ik chain on the first arm part, the movement seems okay, although very scrunched up. I don't know if i want to risk any problems though.

-With the ik chain on the second arm part, the movement is fine. However i have to move the first arm-part separately in animating, which is a bit more hassle.

I'm going to go with the second choice, as i know how to control this much better. In fact i may not need much animation in the lower parts of my robot arms. It will all count on the camera angles, i suppose.