Robert Wesley Taylor, 76, of Kirk Street, Princeton, died Thursday, June 23, 2022, in Pikeville Medical Center. Born January 13, 1946, in McComas, he was the son of the late Thurman Wesley Taylor and Violet Marie Roark Taylor. Robert was a loving husband, father, son, grandfather, great-grandfather, brother, uncle and friend. He retired from Bluefield Regional Medical Center with 23 years service in the Housekeeping Department. Robert loved the Lord, loved his family, enjoyed reading his Bible, fishing, watching baseball games and going to church. He was a member of Grace Christian Church on the Athens Road for 18 years. In addition to his parents, he was preceded in death by a sister, Pansy Vest and a nephew Pat Taylor. Left to cherish his memory are his loving wife of 37 years, Susan Ann Cordell Taylor; Five children, Kimberly Susan Masters (Ed), Amy Christine Lawrence (Shannon Hodge), Laura Jean McCartney (Gil), Corrina Gail Perkins (Roy) and Robert Wesley Taylor, II (companion Summer); Five siblings, Jack Taylor (Frieda), Raymond Taylor (Frances), Perry Taylor (Cordie), Ralph Ray Taylor and John Taylor; Nine grandchildren; Ten great-grandchildren; Several nieces, nephews and friends also survive; Best friend, Jack Hager. Funeral services to celebrate the life of Robert Taylor, will be held at 2:00 P.M., Wednesday, June 29, 2022, from the Chapel of Memorial Funeral Directory on the Athens Road in Princeton with Pastor Joe Akers officiating. Burial will follow in Roselawn Memorial Gardens in Princeton. Friends may visit with the family from 1:00 P.M. until the funeral hour at the funeral home. Serving as pallbearers will be Ed Masters, Shannon Hodge, Hunter Hodge, Roy Perkins, Eric Mills and Brandon Venable. Online condolences may be shared with the family via www.memorialfd.com . The Taylor family is being served by the Memorial Funeral Directory and Cremation Center on the Athens Road in Princeton.