## 4 Conclusions  
This study focused on the use of automatic deburring technology on multi-axis mechanisms for real-time, online deburring trajectory recognition. The proposed automatic deburring system may serve as a solution to certain robotic arm industry problems, especially those related to automated deburring. The contributions of this study are as follows:  
* Regarding the automated equipment and systems integration technology required by the robotic industry, this study developed a model and automated technology for deburring using robotic arms, which may facilitate the integration between midstream and downstream supply chains, create complementary and clustering effects, and enhance the commercialized automated systems and relevant systems integration technology used by domestic firms.
* This study's technological contributions will help the domestic robotics industry further improve and develop new applications for robotic arms and will facilitate the development of complete solutions to the industrial robotic arm and machine tool integration.
* The online deburring trajectory generation technology presented herein solves the problems encountered by domestic firms when using automated robotic arms (e.g., requiring a series of calibrations and compensations, generating trajectories only after using force control devices and offline programming software that can cost as much as NT$4.3 million, and facing costs and inefficiencies that may create an inability to satisfy industry demand).  
Figure 13: Cross\(-\)sectional contour information of the workpiece cutting edges (the blue and green lines shows the contour fitting result, and the red box is the schematic of deburring tool): (**a**) contour information, (**b**) fitting of first line segment, (**c**) fitting of second line segment, and (**d**) cutter trajectory.  
The method proposed in this study captured workpiece cross-sectional contours online by using linear contour scanning sensors and adopted the RANSAC approach to identify burr locations and generate trajectories in real-time, thereby achieving automatic deburring processing. The method was tested using bicycle forks, and the results revealed that when the processing quality was maintained, work that originally took three to four people 8-12-h to complete was completed by one person in 30 min. In addition, the production cost was reduced by 70%. In the future, this method can be used by metal cutting and molding firms to minimize the time and costs required to integrate automatic deburring systems into their operations. The method can be integrated with smart mechanical system unit controllers in the future to solve problems related to project development and planning and can be used to build domestic controllers and smart processing systems to increase the market share and technological independence of domestically manufactured equipment.  
Conceptualization and investigation, C.-K.H. and C.-C.T.; data curation, S.-J.C.; writing-original draft preparation, C.-K.H.; writing-review and editing, C.-C.T., C.-K.H., S.-J.C., and K.-Y.L.; projection administration and funding acquisition, C.-K.H. All authors have read and agreed to the published version of the manuscript.  
This project was funded by the Ministry of Economic Affairs, R.O.C. (project no.: M301 ARS100) and by the Industrial Technology Research Institute.  
Not applicable.  
The authors would like to express appreciation to the editors and reviewers for their valuable comments and suggestions.  
The authors declare no conflict of interest. The funders had no role in the design of the study, in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results.