The invention discloses a remote communication-based industrial robot control system which comprises a mobile terminal and a fixed terminal, wherein the mobile terminal comprises a central processing unit, a wireless transmission module, a data storage module, an information acquisition module, a positioning acquisition unit, an information detection unit, a pressure sensing unit, a motion control system and an execution mechanism; the fixed terminal comprises a data processing module, a wireless receiving and transmitting module, a warning module and a data display module. An industrial robot can be controlled remotely and intelligently through mutual arrangement of the mobile terminal and the fixed terminal, so the working efficiency is improved; meanwhile, the intellectualization degree is high, so errors can be discovered and processed in time and economic loss caused by execution errors of the industrial robot in the working process; the whole system is simple in structure and convenient to operate, and brings a good economic benefit to industrial production.