To study and optimize the material removal model for robotic polishing of M-ZnS and enhance the precision and cost-effectiveness of manufacturing M-ZnS optical components, the material removal model is refined using the finite element method and numerical simulation. A pressure field distribution model for a 10 mm asphalt polishing disc is developed, and the pressure distribution function is determined through curve fitting. The accuracy of the adjusted removal function model is verified with a less than 8% deviation when comparing simulation and experimental data. The polishing process parameters are optimized using a one-factor experimental method, suggesting a pressure range of 0.12 to 0.18 MPa and spindle speed ratios of 200/-10 to 200/-50 r/min for 10 mm discs. These optimizations were applied to polish 100 mm M-ZnS planar optical elements. Post-polishing, the surface quality significantly improved within 80.39 min; the M-ZnS transitioned from light yellow to transparent, face shape PV decreased from 0.668 μm to 0.229 μm, with a 65% improvement, and surface roughness S_a went from 7.911 nm to 2.472 nm, with a 68% enhancement. Thus, robotic polishing proves vital for efficient, high-quality finishing of M-ZnS optical components.