A deburring apparatus provided by the present invention includes: a robot 30 that uses a deburring tool 50 to deburr an object supported by a support 2 in a machine tool 1, a visual sensor 10, a relative movement mechanism for causing the relative movement between the visual sensor 10 and the object supported by the support 2; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of theobject supported by the support 2 is detected by the visual sensor 10 during the relative movement; and a deburring operation program generation process which generates a deburring operation programby using the detected ridge obtained by the visual sensor 10 when the relative movement mechanism is operated based on the visual sensor relative movement program.