AI Robot-arm move individual parts to an object

Hi

I have two models of my robot-arm as BP. Where my goal is to use it as an AI. The arm should move and grab an object that crosses it´s path.

Model 1 has movement with key inputs such as W-forward,D-right etc… this works super

Model 2 has IK solvers that move it when the tipp is grabbed and the rest follows but it look funky and the constraints is no good at all.

Is it possible to use Model 1 that has input for each specific part of the robot to move and grab a object in front of it, automatically as an AI? How do i approach this in BP?

Regards Steel

Have you seen the new CCDIK feature in Ue4 v 4.21?

Thanks!

I will try CCDIK