Hi,
I'm having a problem with the IK system in Maya and would greatly appreciate any help you guys could offer me.

I have modeled a robot and am now in the process of rigging it. If you look at the attached pictures, you can see my predicament.

I have rigged the leg with Inverse Kinematics (IK).
However, I want each joint to have certain constraints. For instance, I want the first/top joint of the IK system to only be able to rotate around a certain axis. As well as this, I want the hinges/kneed joints etc. to also only be able to move in certain rotations.
I want each joint to have limitations, but for the leg as a whole to still work with the one control point.
Is this possible? I'm sure it is, as I know how to do it in Blender.
But now as this is my first time using Maya, I can't figure out how to apply individual constraints to each joint.

Thank you all for any assistance you can provide!