ramping in speed/position mode

[kamocat]

This is more of a request than a question.

Often on an arm (controlled in position mode), sudden acceleration and deceleration (jerk) can be dangerous. If I were using voltage mode, my solution would be to set the ramp rate. However, in position mode that feature is not available. I've tried approximating the effect using the Integral term, but this simply creates oscillation if used without significant Proportional. (When using significant proportional, large changes in position cause large jerk.

In Speed mode there is a similar issue. Here it is not as urgent; I can put a ramping feature in my software, or tune using integral-only. However, a ramping feature would still be appreciated.