"The surface roughness error of large optical mirrors for telescopes needs to be on the order of nanometers. A 6-axis KUKA arm robot was developed with a specialized polishing tool and CNC programming to polish flat mirrors with zero net force on the workpiece. This project aims to further develop the current system into being capable of polishing large curved mirrors with zero net force on the workpiece. A multi-axis load cell is implemented to handle compensation of the tool weight for the force control algorithm. A calibration procedure and algorithm using the multi-axis load cell are described along with modifications to the current force control system, so the system can polish large curved mirrors."