The document discusses the grinding and polishing of large off-axis aspheric optics, which is challenging due to the lack of an axis of symmetry. The tool used for this task incorporated 18 servo motors and load cells to provide closed-loop force control to deform a 2-inch thick aluminum shell and match the changing surface of the optic as three servo motor-controlled linear actuators moved the tool across it. An additional pneumatic cylinder provided vertical load control for lightweight optics.