Here, look back at the Emmy-winner’s life in pictures.

ROBERT GUILLAUME

ABC Photo Archives/Getty Images

Actor Robert Guillaume in a scene from the stage m

Ray Fisher/Getty Images

Robert Guillaume in Guys and Dolls

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L-R: KATHERINE HELMOND;ROBERT MANDAN;ROBERT GUILLAUME;RICHARD MULLIGAN;CATHRYN DAMON

ABC Photo Archives/Getty Images

Robert Guillaume Portrait

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L-R: JENNIFER SALT;ROBERT GUILLAUME;KATHERINE HELMOND

ABC Photo Archives/Getty Images

BENSON

ABC Photo Archives/Getty Images

Ron Galella Archive - File Photos 2009

Ron Galella/WireImage

Saturday Night Live

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Robert Guillaume

The LIFE Picture Collection/Getty Images

Linda Grey and Robert Guillaume

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ABC’s “North and South - Miniseries”

ABC Photo Archives/Getty Images

Ron Galella Archive - File Photos 2009

Ron Galella, Ltd./WireImage

LEAN ON ME, Morgan Freeman, Robert Guilluame, 1989. ©Warner Brothers/Courtesy Everett Collection

Everett Collection

Pro Choice Rally 1989

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Robert Guillaume As The Phantom 1990, Los Angeles, USA

REX/Shutterstock

Saved by the Bell: The College Years

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THE LION KING, Simba, Rafiki, 1994, (c)Buena Vista Pictures/courtesy Everett Collection

Everett Collection

Fresh Prince of Bel-Air, The

Joseph Del Valle/Getty Images

GettyImages-775407

Getty Images

ABC Photo Archives/Getty Images

L-R: JOSHUA MALINA;ROBERT GUILLAUME;FELICITY HUFFMAN;SABRINA LLOYD

ABC Photo Archives/Getty Images

Premiere Of Walt Disney Studios' “The Lion King 3D” - Red Carpet

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“Red Tails” Opening Night Screening

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