Barnes is guaranteed at least a silver after beating Spain's Jose de la Nieve Linares 6-3 in his semi-final.
Barnes was delighted with his performance as he set up a final meeting with Azerbaijan's Elvin Mamishzade on Saturday.
"It was a great win for me because Linares is a strong guy and has a lot of power," Barnes told www.mxsportandtalent.com
"I knew what he could do because I had been in the ring with him before but I fought a good fight and prevented him from getting too close to me.
"It proves to me how much I have improved over the past 12 months because he is an opponent I would have a lot of respect for.
"It's been a long time since an Irish boxing brought home a gold medal from these championships and I am determined to have that gold medal in my luggage."
Barnes' Holy Family coach Gerry Storey said the light fly-weight has continued to improve since winning the Olympic bronze medal.
"I am confident he will do well in the final," said Storey.
"He's a great kid and has a great sense of determination when there is something to be won in the ring."
