Thank you for your answer !

These methods you presented don't work for linear (Cartesian) motions.

Dear Erfan Shojaei Barjuei

These links and article might be helpful, have a look:

1. https://answers.ros.org/question/288989/moveit-velocity-scaling-for-cartesian-path/

2. https://github.com/ros-planning/moveit/issues/1556

3. https://ros-planning.github.io/moveit_tutorials/doc/time_parameterization/time_parameterization_tutorial.html

4. https://groups.google.com/g/moveit-users/c/kT3BwIFp040?pli=1

5. https://question2481.rssing.com/chan-39845049/all_p46.html

6. https://www.mdpi.com/2076-0825/10/7/141/htm

Kind Regards

Qamar Ul Islam