The PID controller is often used in the motion control of series manipulator, which has the problems of large overshoot and low tracking accuracy. Based on this, a fuzzy PID controller based on particle swarm optimization (PSO) algorithm is designed. First of all, the dynamic equation and transfer function were deduced based on the model of serial manipulator with two arms. Secondly, the system structure of the controller was designed, and the PSO algorithm was used to optimize the control parameters of fuzzy PID controller, which improved the adaptive ability and tracking precision of the system. Finally, the tracking and control of manipulator position were simulated by the MATLAB. The simulation results show that the PID controller has certain oscillation and large overshoot. After fuzzy adjustment, the overshoot becomes small and the stability is better; on this basis, the response speed gets faster, and the overshoot is basically eliminated through PSO optimization.