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Ron Glass, popularly known for his role as Ron Harris in the Emmy-winning ABC sitcom, "Barney Miller," died late Friday of respiratory failure. He was 71.

The actor's rep confirmed the death to Fox News, but no further information regarding the funeral services and survivors was made available to the publication.

"Ron was a private, gentle and caring man," said Jeffrey Leavitt, a longtime friend, and agent to the actor. "He was an absolute delight to watch on screen," Leavitt added.

Glass was best known for his role as Ron Harris, the NYPD detective and aspiring author in "Barney Miller," reports Entertainment Weekly. The show aired from 1975 until 1982 winning two Golden Globes and two Emmy Awards. Glass also earned an Emmy nomination in 1982 for Outstanding Supporting Actor for his performance in the series. The ensemble cast of the hit series included Hal Linden as Capt. Barney Miller, Max Gail as Detective Stan "Wojo" Wojciehowicz and Abe Vigoda as Detective Phil Fish.

In addition to "Barney Miller," Glass appeared in dozens of other shows in television and film career dating to the early 1970s.He portrayed Derrial Book, the spiritual shepherd on the cult sci-fi series, "Firefly" and its big-screen follow-up sequel, "Serenity."

He played Felix Unger in "The New Odd Couple," a 1980s reboot of the original Broadway show. He was also the voice of Randy Carmichael, a father of four children in the popular Nickelodeon cartoon series, "Rugrats" and its spinoff, "All Grown up."

The legendary actor also graced "Friends," "Star Trek: Voyager," and "Designing Women" with his appearances. More recently, he appeared in episodes of popular television series, "CSI: Crime Scene Investigation," and "Agents Of Shield." His early credits include "All In The Family," "Maude," "Sanford And Son," and "Hawaii Five-0."