With the soft polishing tools being compressed to fit the shape of the complex curved surfaces and contacting with the workpieces compliantly, industrial robots of multi-joint could do a great job in the process of polishing. However, the present control system of industrial robots doesn’t have the functions to control all the cutting variables of curved surfaces polishing. The cutting variables, which have to be adjusted all the time in the process of curved surfaces polishing, are mainly three variables, the contact force, the relative speed and the staying time. And among them, only the staying time could be adjusted by programming in the control system of industrial robots. Therefore, other cutting variables of curved surfaces polishing have to be adjusted in other ways. In this paper, a ballonet polishing tool and its control system are developed to work along with a multi-joint industrial robot in the process of a workpiece of aspheric surface polishing. Consequently, it studies how the tool control system works along with the robot control system.