diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp
index 4269419a..2579a4bb 100644
--- a/urdf_parser/src/joint.cpp
+++ b/urdf_parser/src/joint.cpp
@@ -140,6 +140,11 @@ bool parseJointLimits(JointLimits &jl, tinyxml2::XMLElement* config)
   {
     try {
       jl.effort = strToDouble(effort_str);
+      if (jl.effort < 0.0)
+      {
+        CONSOLE_BRIDGE_logError("effort value (%s) is negative", effort_str);
+        return false;
+      }
     } catch(std::runtime_error &) {
       CONSOLE_BRIDGE_logError("effort value (%s) is not a valid float", effort_str);
       return false;
@@ -156,12 +161,80 @@ bool parseJointLimits(JointLimits &jl, tinyxml2::XMLElement* config)
   {
     try {
       jl.velocity = strToDouble(velocity_str);
+      if (jl.velocity < 0.0)
+      {
+        CONSOLE_BRIDGE_logError("velocity value (%s) is negative", velocity_str);
+        return false;
+      }
     } catch(std::runtime_error &) {
       CONSOLE_BRIDGE_logError("velocity value (%s) is not a valid float", velocity_str);
       return false;
     }
   }
 
+  // Get joint acceleration limit
+  const char* acceleration_str = config->Attribute("acceleration");
+  if (acceleration_str == NULL){
+    CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no acceleration, using default value");
+    jl.acceleration = std::numeric_limits<double>::infinity();
+  }
+  else
+  {
+    try {
+      jl.acceleration = strToDouble(acceleration_str);
+      if (jl.acceleration < 0.0)
+      {
+        CONSOLE_BRIDGE_logError("acceleration value (%s) is negative", velocity_str);
+        return false;
+      }
+    } catch(std::runtime_error &) {
+      CONSOLE_BRIDGE_logError("acceleration value (%s) is not a valid float", acceleration_str);
+      return false;
+    }
+  }
+
+  // Get joint deceleration limit
+  const char* deceleration_str = config->Attribute("deceleration");
+  if (deceleration_str == NULL){
+    CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no deceleration, using acceleration limit");
+    jl.deceleration = jl.acceleration;
+  }
+  else
+  {
+    try {
+      jl.deceleration = strToDouble(deceleration_str);
+      if (jl.deceleration < 0.0)
+      {
+        CONSOLE_BRIDGE_logError("deceleration value (%s) is negative", deceleration_str);
+        return false;
+      }
+    } catch(std::runtime_error &) {
+      CONSOLE_BRIDGE_logError("deceleration value (%s) is not a valid float", deceleration_str);
+      return false;
+    }
+  }
+
+  // Get joint jerk limit
+  const char* jerk_str = config->Attribute("jerk");
+  if (jerk_str == NULL){
+    CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no jerk, using default value");
+    jl.jerk = std::numeric_limits<double>::infinity();
+  }
+  else
+  {
+    try {
+      jl.jerk = strToDouble(jerk_str);
+      if(jl.jerk < 0.0)
+      {
+        CONSOLE_BRIDGE_logError("jerk value (%s) is negative", jerk_str);
+        return false;
+      }
+    } catch(std::runtime_error &) {
+      CONSOLE_BRIDGE_logError("jerk value (%s) is not a valid float", jerk_str);
+      return false;
+    }
+  }
+
   return true;
 }
 
diff --git a/urdf_parser/test/urdf_unit_test.cpp b/urdf_parser/test/urdf_unit_test.cpp
index 8349b1de..2388bb1d 100644
--- a/urdf_parser/test/urdf_unit_test.cpp
+++ b/urdf_parser/test/urdf_unit_test.cpp
@@ -178,7 +178,7 @@ TEST(URDF_UNIT_TEST, parse_joint_doubles)
     "    <child link=\"l2\"/>"
     "    <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>"
     "    <dynamics damping=\"87.098\" friction=\"3.1290\"/>"
-    "    <limit lower=\"12.34\" upper=\"22.999\" effort=\"99.0\" velocity=\"23.0\"/>"
+    "    <limit lower=\"12.34\" upper=\"22.999\" effort=\"99.0\" velocity=\"23.0\" acceleration=\"10.0\" deceleration=\"5.0\" jerk=\"200.0\"/>"
     "    <safety_controller soft_lower_limit=\"8.765\" soft_upper_limit=\"9.003\" k_position=\"7.0034\" k_velocity=\"9.998\"/>"
     "    <calibration rising=\"8.654\" falling=\"0.0445\"/>"
     "    <mimic joint=\"j2\" multiplier=\"9.87\" offset=\"0.098\"/>"
@@ -204,6 +204,9 @@ TEST(URDF_UNIT_TEST, parse_joint_doubles)
   EXPECT_EQ(22.999, urdf->joints_["j1"]->limits->upper);
   EXPECT_EQ(99.0, urdf->joints_["j1"]->limits->effort);
   EXPECT_EQ(23.0, urdf->joints_["j1"]->limits->velocity);
+  EXPECT_EQ(10.0, urdf->joints_["j1"]->limits->acceleration);
+  EXPECT_EQ(5.0, urdf->joints_["j1"]->limits->deceleration);
+  EXPECT_EQ(200.0, urdf->joints_["j1"]->limits->jerk);
 
   EXPECT_EQ(8.765, urdf->joints_["j1"]->safety->soft_lower_limit);
   EXPECT_EQ(9.003, urdf->joints_["j1"]->safety->soft_upper_limit);
diff --git a/xsd/urdf.xsd b/xsd/urdf.xsd
index ccebfb26..b8ac89bb 100644
--- a/xsd/urdf.xsd
+++ b/xsd/urdf.xsd
@@ -197,6 +197,9 @@
     <xs:attribute name="upper" type="xs:double" default="0" />
     <xs:attribute name="effort" type="xs:double" default="0" />
     <xs:attribute name="velocity" type="xs:double" default="0" />
+    <xs:attribute name="acceleration" type="xs:double" default="INF" />
+    <xs:attribute name="decceleration" type="xs:double" default="INF" />
+    <xs:attribute name="decceleration" type="xs:double" default="INF" />
   </xs:complexType>
 
   <!-- safety controller node type -->