This paper proposed a processing technology for removing residual inner corners, as well as a highly integrated wood processing device based on the genetic algorithm, solving the problem of residual inner corners in the milling process of mortise-tenon joints. Integrating visual programming technology, standard programs were developed for tool adaptation; existing wood processing techniques were integrated with robotic arm motion systems to create a collaborative wood processing system. An experiment was conducted on the mortise structures within wooden assemblies. Research findings indicate that the genetic algorithm-based technology for removing internal corner residues can effectively eliminate internal corners, thereby resolving the issue of arc residues in milling technology. The proposed collaborative wood processing system, featuring robotic arms, has the capacity to efficiently and precisely complete construction tasks. This system demonstrates the feasibility and applicability of digital construction technology through practical construction experiments.