Best way to move a rigid body to an empty's position?

I have an "Active Ragdoll" Character setup with Configurable Joints and Hinge Joints. I plan on animating the character by only animating 5 empty GameObjects(LeftArmTarget,RightArmTarget,LeftLegTarget,RightLegTarget,HeadTarget). I then will have a script that attempts to move the hands, feet, and head to their targets. The joints will take care of the rest of the translation. What would be the best method of moving the parts to the empty GameObjects? I tried having ConstantForces with a force towards the empty GameObjects, but that did not work that well. Any other methods I should try?