Best way to implement the working of an Articulated Work Platform (AWP) or Boom Lift

So a team of us are working on creating a small demo to showcase an articulated work platform. While researching a way to implement the controls for the various joints and their operations , we noticed that the platform will always be facing forward and upright , to make sure the user doesn’t fall off. To implement this we tried the usage of pre-made animation and avatar masks for individual joints on the same. Yet, the platform was never seen upright. Any help in implementing will be greatly appreciated.

I might not be following 100% but I think what you are looking for is inverse kinematics. While I am not a IK master or expert by any means, there are tutorials everywhere.