Rigging A Worm... A Litle Help Here!

hey guyz i've modeled a worm now i want to rig it in a way to hav a great amount of control in the tail.. for example the worm wants to hold a cup with its tail or rotate around a rod, think yor getting the picture
plz help
tnx in advance...

im a bit new to rigging, but just a suggestion in searching... a worm would probably be rigged allot like a snake. so you may want to search for that instead. if you havent researched the "ik spline tool", its probably a good direction to start in. its only marginal help, but ...

-stellar