If you are trying to make all the motion in one go, then no there is not a way to do it.  If you look up animation in the forums you will find a lot of advise to render to frames.  One of the prime reasons to do this is that after all the frames are made you assembly them in a movie editing program.

The reason you want to do this is so that you can break your animation into scenes.  In your case the first half would have the IK on which you say you like.  Then you capture the last frame of the scene with the IK on and make a new scene and paste that frame in at frame one.  In the new scene you remove the IK and hand key what ever motions you wish.

You then render each scene to frames and piece it all together in the movie editing program.  It is a little bit of work to start learning however in the long run you will be able to make 3-5 second scenes in minutes and piece them all together instead of trying to make a single 5 mintue scene and fight each small change that effects other parts of the scene.

Poser 5, 6, 7, 8, Poser Pro 9 (2012), 10 (2014), 11, 12, 13