**Wanjin Guo 1,2,\*, Ruifeng Li 2, Yaguang Zhu 1, Tong Yang 1, Rui Qin <sup>1</sup> and Zhixin Hu <sup>1</sup>**


Received: 2 April 2019; Accepted: 14 May 2019; Published: 17 May 2019

**Abstract:** Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

**Keywords:** industrial robotics; robotic deburring; tool path planning; process parameter control; dexterous manipulation
