Stuck with IK on my robot

Hi

So i have a skeleton robot that i want to steer with the yellow ball at the tip to a certain point with my mouse input. The parts of the robot shall twist and turn as i move my mouse. Goal to hit the white box on the arena floor. I would like to use IK constraints.

I´m a bit lost how to get things together. My skeleton mesh has constraints that i think is good. When i simulate it collapse and hold together in a correct way. But when i check simulate physics it spins, perhaps I should´t use simulate physics at all? Wrong approach?

After constrains what shall i do next go get it moving? The base should be fixed to the ground and the body and arms swing on my command.

Can i skip animation?

When i test in 3ds max and move the ball every part moves right.

All comments would be much appreciated

/Steel