In this paper, we consider time-optimal path planning for X-Y gantry systems along circular paths, in which acceleration and jerk limitations of each actuator are taken into full account. The physical limitations are expressed as highly nonlinear state/input constraints, and are mathematically very difficult to handle effectively. In this context, we formulate the time-optimal problem under reasonably simplified constraints and derive its solution in feedback form. Numerical examples demonstrate that the proposed time-optimal circular path planning method decreases the traverse time significantly compared to the well-known s-curve method. (C) 2007 Elsevier Ltd. All rights reserved.