The only thing I can find that is close to what you posted is of a Robert E. Pembroke b. Nov 26, 1919, died May 15, 1996, last lived at Trenton, NJ.
I think in order to help you, you'll need to find out some more from your relatives (one may have your grandfather's obituary). I suggest asking your relatives what they know. Burial places, spouses, siblings, locations, birth places, etc, any clues can be helpful. Start with Robert SR and work back and sideways. Did he have any brothers or sisters. What was his mother's name Every bit you can find out and post will help us help you.