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1. Heat up the grips with a heat gun, and pull the grips off
2. Cut the poles to your desired length with a metal-cutting saw
3. If need be, sand the top of the poles, and reapply the grips
I just turned my tap to hot, put my pole under for a bit, and used some leverage from closing a door on the grip to take it off. Putting it back on I ran them under hot water and just forced them on.
i have had joysticks and they all came off fine... that being said if its an aluminum standard pole with standard grip it WILL come off. +1 for boiling water deff easiest.
To put the grips back on, I would recommend spraying the pole with hair spray. They should slide right on, and the spray will dry to a pretty solid glue. We did this at a bike shop I worked at for grips on handlebars.