What is the primary function of the peripheral nervous system?

The primary function of the peripheral nervous system (PNS) is to receive and transmit sensory information from the body's external and internal environments to the central nervous system (CNS), and to transmit motor commands from the CNS to the body's muscles and organs. 

The PNS includes all the nerves outside of the brain and spinal cord, including the sensory neurons that carry information from the body's sensory receptors to the CNS and the motor neurons that control voluntary and involuntary muscle movements.