@andy, steps to reproduce this error have been posted by @zwz here.
I had to monkey-patch ionic-bundle.min.js in the meanwhile otherwise my app wouldn’t work at all, so where it read var rafSupported = !!requestAnimationFrame; now it reads var rafSupported = !!(requestAnimationFrame && cancelAnimationFrame);.
I’ve posted a comment on one of the many Angular.js issues related to this polyfill, hoping they fix it quickly.
Unless they do, I think this should be a special case in which Ionic would have to downgrade Angular.js version until it’s solved.