Modern manufacturing demands flexibility, customization, and efficiency in traditionally rigid processes. Digital automation has been increasingly more prevalent. With small batch sizes, increased automation means that offline programming and planning of tool paths takes a larger portion of work for each part. We present a method of creating a robot path for deburring an oxy-fuel cut part using a 3D point cloud. This method allows for faster automation of a common finishing step in parts manufacturing without the use of a CAD model or offline programming. Experiments show that our method can be used to easily generate a deburring path on a part that is randomly placed in the work area.