For hard and brittle aspheric optical mirror with characteristics of high hardness, special profile, large processing area and high processing quality requirement, a generating grinding method for aspheric surface based on the normal tracking and grinding with cylindrical grinding wheel end is developed. Based on this, intelligent real-time detection and adaptive control method are designed. Applying these methods, the precise control of the grinding motion track, automatic compensation of grinding wheel wear,automatic control of grinding pressure and automatic adjustment of process parameters are realized. Experimental results show that the method for generating precision grinding of aspheric surfaces which is grinded with cylindrical grinding wheel end and based on normal tracking can ensure the accuracy of the aspheric surfaces. The real time detection of grinding wheel wearing and adaptive control method can improve the machining quality and efficiency.