This study on the design of PID controllers for flexible single-arm robot system optimizationPSO method is focused so that the coefficients of the PID controller are reduced. In this study,PID controller and PSO algorithm have been described and then by using MATLAB, PIDcontrol was simulated. Then by PSO algorithm, attempts to reduce the PID coefficients are givenby simulation. Finally PID coefficients' values were compared with and without the PSOalgorithm. The results showed that by using the number of birds and birds number steps, bothequal to 30 (the sixth), the lowest values of the coefficients p K , d K , i K are 0.741, 0.1491and0, respectively. تفاصيل المقالة