I have a nice, simple ragdoll model that works. I can drop him and stuff, but their is a problem. The joints can rotate as far as they want. I need to be able to define limits on how far the joints can bend. Can anyone help? Please, no python or anything. Is there a setting in blender?
You need constraints.
Select one of your armature bones and go to the object panel (F7). At the bottom you find the constraints drop down menu. What you probably want is the limit rotation constraint.
You can read more about constraints in the Wiki manual: Introduction to constraints.