How can I make an object's tip position exactly where the IK controller bone is? So I have this robot leg I made. This is the current setup I have

The selected bone is the IK controller bone. When I tried to move the IK bone to the 3D cursor in edit mode I get this.

So as a work around I instead created 2 bones. The upper one has a copy transforms with the lower one as a target.


This works kinda fine but I wanted to know if there is a way to make it so that the IK bone is always on the lower part of the leg. For example when using my rig ( I moved the controller IK slightly up and to the left) I get this


What I want is for the controlller IK to always be within the highlighted region, is this possible?
Add one more bone from top controller to bottom:



Add new IK to it with target to bottom controller and chain length 1



Finally, reparent this part of leg to this bone