An ABB IRB6640 industrial robot is used as a processing platform for optical polishing. The relationships of coordinatesystems are defined, the algorithm of coordinate transformation, Euler angles and quaternion are provided. M-like removalfunction and Gaussian-like removal function are used to simulation process an off-axis aspheric surface. The surface errorafter polishing by M-like removal function is 1.5 to 2.5 times bigger than Gaussian-like removal function. This proves thatM-like removal function also has good convergence speed. Then, the pentagram polishing head is used to polish a Φ600mmoff-axis paraboloid surface. After 15 cycles, about 120 hours processing, PV converges from 5.8μm to 0.836μm, RMSconverges from 1.2μm to 0.054μm, PV and RMS respectively converge 85% and 95%. The experiment shows M-likeremoval function has good convergence speed.
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