Do you find as appropriate if Collada would be extended to support kinematics: how much and how far an object can be moved?
The idea is that Collada will be used to describe to what extend a user is allowed to interact with an object, e.g. when a robot is constructed in one application, then all other tools will know how far they can move its hands.
Could you explain your question a little bit more? It seems that you want <limits> for position and speed of objects defined in the scene. And those <limits> should be descibed in the local coodinate system of each joints.
Also could you let me know more about your usecases? For example, are those <limits> for IK computation under constraints?