Thank you for taking the time to read this. I've been struggling to get my shoulder armor for my Mega Man X project to work with an IK system. I stumbled upon a blogpost that potentially has some clues surrounding this, but they are using softimage, and the two main contraints that they use is the "Lookat" and "Up Vector" constraints. The "Lookat" seems like the Damped Track or Track To, but "Up Vector" has me stumped, and I can't seem to find what would be the Blender equivalent of that Softimage constraint, and their set up is based off of those two contraints.
The blogpost in question: https://polycount.com/discussion/200175/rigging-a-spaulder-an-easy-way-a-simple-way-to-rig-shoulder-armor