How to solve the discontinuity of joint acceleration and the non-zero acceleration at the start and end of the output trajectory?

[lijianbetter]

While using the trajectory generated by toppra as the input of a robot arm, I found the acceleration is not zero at the start and end of the trajectory, which makes the robot vibrates at the end of the trajectory.
Based on the previous issues, the potential methods to resolve the problem are in two ways:

1. Set the position varying joint acceleration.
   Are there any possible realizations in python?
2. Fit a spline on the output trajectory with a continuous 2nd derivative constraint.
   In this way, how to fit the spline? Will the trajectory after fitting conflict with the dynamic constraints?
   Thanks in advance.