Hey guys,
I was wondering if anyone could give me advice on the best way to rig a scorpion tail of a model. I tried out a set driven key method that looks great. I basically made it so each segment initiates the slight 20 rotation of the Z axis once the first one moves 20 degrees. It creates a smooth curl up and inward which I really like and looks natural.

Though... I also want to add an IK handle and have the flexibility of using both methods to animate. This was I can also be able to manually move the end of the stinger. Problem is, when I add the IK to the joints, and then start adding the set driven keys, it doesn't let me create the set driven key method I had started with. I want to have the flexibility to turn these on and off. I know you can switch back from IK to FK. Is there a way to add FK controls and add in set driven keys to the controls?? Thanks if anyone has any suggestions!!