Yes that's what I was doing before looking at Kinematics. I have sort of learned that its good until there's too many movements with rotation's which is what I'm finding here and didn't know if anyone had come across the same issue and solved it

Just tried using Kinetics and I can't get it to work either as kinetics are always on but as I have 6 different movements that all need different constraints it isnt working. I have also tried turning them on and off when I need but that doesn't seem to work either

I have the model in Groups, so the whole robot is a group and then the components are in subsequent groups inside the main group. I have done it the way I saw a youtuber group robot arms

Trying to animate a 6 axis robot rotation and when I put 2 or more rotations together the components start rotating around completely different axis' and going all over the place. Any help is much appreicated