Mechanical rigging problem

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Hey Folks
I hope you are all well. I am having an issue rigging a camera motion control rig. In essence the rig is a real life rig. I am hoping to give the real rig rotational and position instructions from a 3d one to recreate camera moves. To that end I am trying to create a rig that is controlled by the camera end of the arm. The rig has an upright on a turn table that rotates in the y axis and a jib connected to that upright that rotates in the z axis. When I try to move the camera up or side to side the rig pulls away from the controller due to the fact it is on 2 rotational axis. What I would like to happen is if I move the camera up or side to side the entire rig travels down the track to compensate. The forum wont let me attach a vimeo link to a video so here is the URL where I explain the issue further.