**3. Robotic Deburring Tool Path Planning Method**

In this section, a robotic deburring tool path planning method is proposed to handle the robotic deburring tool location (position and orientation) planning and the robotic layered deburring planning for the developed five-DOF robot manipulator.

In this article, the theoretical curve and theoretical surface, which are expected to be qualified after the final robotic deburring, are called the target curve and target surface, respectively. The deburring tool is a general term for various deburring tools, including the cutting tool with the end or side face edge, and the grinding tool such as grinding wheel head and rotary file.
