As of 2022, most automatic deburring trajectories are still generated using offline programming methods. The trajectories generated using these methods are often suboptimal, which limits the precision of the robotic arms used to perform automatic deburring and, in turn, results in workpiece dimensional errors. Therefore, despite advances in automated deburring trajectory generation, deburring is still mostly performed manually. However, manual deburring is a time-consuming, labor-intensive, and expensive process that results in small profit margins for organizational equipment manufacturers (OEMs). To address these problems and the obstacles to the implementation of automated deburring in the robotics industry, the present study developed an online automated deburring trajectory generation method that uses 2D contouring information obtained from linear contour scanning sensors, a CAD model, and curve fitting to detect burrs and generate appropriate trajectories. The method overcomes many of the limitations of common deburring methods, especially by enabling real-time trajectory tracking. When the method was tested using bicycle forks, work that originally took three to four people 8–12-h to complete was completed by one person in 30 min, and the production cost was reduced by 70%.