This paper proposed a processing technology of removing residual inner corners and 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. Leveraging visual programming technology, standard programs were developed for tool adaptation, integrating existing wood processing techniques with robotic arm motion systems to create a collaborative wood processing system. An experimental construction 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, can efficiently and precisely complete construction tasks, demonstrating the feasibility and applicability of digital construction technology through practical construction experiments.