By the way, I am driving my 805 D3 bookshelves with 1000 watt monoblocks. You don't really buy high power amps because you are gong to use all that power. You buy hi power amps to get the largest power supply. This ensures smoothest and strongest sound even at low to mid listening levels.
So, that being said, the 1585 would give you a little bit beefier bass/midbass response when compared to the smaller 1555. It could also have a smoother response in the mids as well and could give you extended depth of soundstage, but you are spending considerably more. It all depends on your budget point. Both are Class AB amps and have a very nice sound. The Rotel Class AB is voiced just very tiny bit on the warm side, but still has excellent response.
If you wanted a more neutral high resolution amp, maybe look at ATI AT4005 (retail $4495). It is considerably more expensive, though.
Rotel will still be extremely good and very pleasant to listen to.