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Pneumatic artificial muscles joint mathematical model was established, PID control method was adopted in the system. In order to improve the control results, particle swarm optimization was used to optimization parameters of PID. The fitness function which was made up of overshoot, settling time and steady error of step response was used to determine the optimal control parameters. Simulation based on parameter from PSO and Z-N indicates that control results based on PSO parameter tuning was significant improved.