Creating a dentist like pivoting lamp that can be moved with hand controls

Just need a little help setting up a pivoting lamp where you grab the head and the arms adjust accordingly, I tried using physics constraint actors but it just spazzes out when I try it(probably not setting it up right). Anyone know a tutorial or know how to do this?

here is a video of a lamp in action A-Dec LED Dental Light Review - YouTube

here is a pic of my lamp i want to use

I’m also interested in this, it’s similar to the adjustable desk lamp that is on the drawing table with the blueprint in The Lab.

I’m also curious. Can IK be used for this?