joint_trajectory_controller with non zero final velocity

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Is it possible to provide the joint_trajectory_controller with a trajectory where the last point in the trajectory has a velocity that is non zero?

Imagine i have a robot arm that i want to punch a wall that does not break or cannot be penetrated. I want to provide a trajectory of arbitrary path heading towards the wall (straight punch, uppercut, hook, whatever), but once it gets to the wall, i dont want it to slow down and stop there, i want it to hit the wall as hard as possible. Now once this happen there will be a force from the wall back through the joints of the robot, but i am relying on powerful torque motors to sustain the backlash.

What kind of trajectory would i provide the joint_trajectory_controller, or what other scheme, may i use to obtain this action?

Thanks.