Mass production created a big evolution in the industry, and saturated the market with uniform products. Demand for low cost and diversified products created flexible manufacturing systems (FMS). As a concept, FMS can be applied to most industries. Therefore, in order to gain the technical knowledge of design and fabrication of FMS, equip the automation lab, create research infrastructures, and practicing easy use of a small automation system, this project is defined. The system consists an automated traortation unit, workpiece feeder, assembly unit and smart storage. The aim of this thesis is to design and implement a low cost and easily usable control system in order to control the assembly unit of a laboratory FMS. A SCARA robot as assembly unit is designed and fabricated. Then, the essential hardware to apply control is introduced. In order to design the controller, the dynamics of robot is derived and, accordingly, an adaptive PD controller is designed. To ensure the desired performance, the controller is simulated in MATLAB software. Eventually, with point-to-point approach to path control, the controller is implemented in the SCARA robot and the installation of the robot control system is demonstrated. Keywords: Flexible Manufacturing System, SCARA Robot, Control of Robot, Flexible Assembly Unit, Adaptive control
