WIP Robot Arm

Description:

Robot arm I have been working on. Having problems with the rigging, currently the bones for the pistons are pointing at each other. There is an IK set up with an empty directing the elbow. The end goal is to have the IK rotate up to the ball joint at the shoulder and have the IK rig control the whole thing. The problem I am encountering is when the IK control bone is animated you can see the piston lagging behind the the shaft of the piston. I dont know if this is a glitch or if there is a constraint or technique I am missing? Help pls.