This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method was developed by decomposing the robotic deburring system into two subsystems: the arm and the deburring tool. A decentralized control approach was pursued in which suitable controllers were designed for the two subsystems in the coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of external disturbances, such as static and Coulomb friction and nonlinear compliance of the pneumatic cylinder stemming from the compressibility of air. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.