Not that we know of. If he did it was never recorded. Hitler took a very hands off approach to leadership in non-military matters. He was a very much a "let the more qualified men do the job I have told them to" kind of leader. He preferred to stay his various bunkers, and headquarters and direct affairs from there. Although, general Hermann Reinecke, a German military officer who was captured and tried at Nuremberg, did testify that Hitler had done an inspection with around 160 officers of Dachau concentration camp. You can read the testimonial here.

Although, that testimonial isn't taken seriously, as its thought to be a mistranslation, and that Reinecke actually meant to say Himmler. It would make more sense as Himmler did take tours of different concentration camps and his role as head of the system meant that it was Himmler's job to inspect the camps and not Hitler's.

This isn't to say Hitler didn't know about the camps. Its a common tactic of Holocaust deniers to say that "Hitler never visited a concentration camp so he must not have known about them". This is of course complete and utter rubbish, but I felt I should mention it.