Solving different Formulations of the problem.
Reference:
[1] Consolini, Luca, et al. "A fast speed planning algorithm for robotic manipulators." arXiv preprint arXiv:1802.03294 (2018).
[2] Verscheure, Diederik, et al. "Time-optimal path tracking for robots: A convex optimization approach." IEEE Transactions on Automatic Control 54.10 (2009): 2318-2327.
[3] Pham, Hung, and Quang-Cuong Pham. "A new approach to time-optimal path parameterization based on reachability analysis." IEEE Transactions on Robotics 34.3 (2018): 645-659.