We develop a polarization characterization platform for optical devices in free-space quantum communications. We demonstrate an imaging polarimeter, which analyzes both incident polarization states and the angle of incidence, attached to a six-axis collaborative robot arm, enabling polarization characterization at any position and direction with consistent precision. We present a detailed description of each subsystem, including the calibration and polarization-test procedure, and analyze polarization measurement errors caused by imperfect orientations of the robot arm using a Mueller-matrix model of polarimeters at tilt incidence. We perform a proof-of-principle experiment for an angle-dependent polarization test for a commercial silver-coated mirror for which the polarization states of the reflected light can be accurately calculated. Quantitative agreement between the theory and experiment validates our methodology. We demonstrate the polarization test for a 20.3 cm lens designed for a quantum optical transmitter in Canada’s Quantum Encryption and Science Satellite mission.