In order to realize drilling holes automatically by a two-arm drilling manipulator, its direct kinematics analysis was done. The aim of optimization was to find the right position and orientation of the arm by which they could realize the position and orientation of the drill demanded on the drilling work. An optimization program of the PSO algorithm in the MATLAB environment was developed and the optimal calculation was done. The result proves the validity of the PSO based algorithm for the inverse kinematics of the 2-arm drilling manipulator. In order to facilitate the operation and audit, the user interface was set up and.exe files were made, so as to lay foundation for drilling holes automatically.