In telescopes based on active optics, defocus and coma are usually compensated for by secondary mirror movements. They are performed at the Very Large Telescope Survey Telescope (VST) with a hexapod--a parallel robot with six degrees of freedom positioning capability. We describe the application of the two-mirror telescope theory to the VST case and the solutions adopted for the hexapod control. We present the results of performance and reliability tests performed both in the laboratory and at the telescope.