The invention relates to an electric metal part cleaning and flaw detection robot control system and a method. The control system includes an NI sbRIO embedded control mainboard, a first interface of the control mainboard is externally connected to all angle sensors and force/torque sensors arranged on a robot through a high frequency data line, a second interface is sequentially in external connection with an ultrasonic guided wave signal excitation/acquisition board and an ultrasonic guided wave probe arranged on a flaw detection device, a third interface is externally connected to a radio frequency module and is then wirelessly connected to a user machine of embedded control software, and a fourth interface is respectively in external connection with all drivers and steering engines arranged on the robot through a CAN bus, the drivers control servo motors, and all the servo motors are in feedback connection with each corresponding driver through equipped encoders. The system and the method provided by the invention can realize autonomous trajectory planning of the robot detection process, increase the reliability, and improve the detection efficiency and flexibility. At the same time, the system and the method improve the detection rate, reduce false detection and missed detection, ensure the safety of industrial piping systems, and have good economic value and social value.