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I'm currently animating a robot arm. For this purpose, I created an armature with IK solver. I've constraint the bone (aka robot joint) transform to match the motion possible with the robot.

However, what I couldn't find, was a constraint to limit the animation velocity and acceleration of a bone. Is this even possible with Blender?

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Since nobody answers, I found a temporary solution:

The iTaSC IK solver features some velocity constraints: https://docs.blender.org/manual/en/latest/rigging/armatures/posing/bone_constraints/inverse_kinematics/introduction.html

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