How can I control Franka?

I found this Franka sample, and I want to use this robot arm. But how can I control the movement of the arm?

If I now just pick a hand for example, and move it then it just floats away…
There must some kind of kinematic joint system already on this. How do I use it?

can you elaborate more, please

I changed to this model in my project:

So I do not need Franka now. My question still is the same, how can I control this in linear animation? Are the joints structured so I can rotate the upped arm and rest of the arm parts follow?

you would use the IK with some constraints

Naturally! But is there a Inverse Kinematics setup already made this this robot?