Is there a way to execute a command on exit (regardless of how the script exited)?

I have a script that writes out to temporary files to aid in its execution. At the end of my script I simply call rm filename to clean up the temp files I created. The problem is when the script ends due to error or is interrupted. In these cases, the rm statement is never reached and thus the files are never cleaned up. Is there a way I can specify some command to run on exit regardless of whether or not it was a successful exit?