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The IK handles would just move the limbs in exactly the same way, so I'm not sure how that would help you.
Connectors have a "parent" which isn't moved by the child, and a "child" which isn't moved by the parent generally. So first thing is to make sure you have them the right way around--yellow for parent and blue for child.
If you use R2 to position something, it will drag its parent around to make it possible. If you use L2 to rotate something, it won't move the parent but the children will rotate with the part.
I don't know if this applies to the problem you're coming across, but hope this helps.