: From ancient times, man have been looking for a way to make their living environment beautiful. The building stones have changed over the years and have changed from simple stone materials to composites. Despite the excellence of stone materials, these products also have some defects. Including the effect of cold in creating fracture in stone and existence of natural joints and holes. Therefore it is tried to produce composite to supply needs and remove defects. These composites include cement plast technology in producing travertine artificial stone. Because of using manpower in different parts of producing and efficiency depends on great performance of labor force. Also direct connection has led to great decrease of quality of the product in mass production, that is, when the attention and speed of the labor is needed in the same time. This has led to a reduction in the involvement of manpower in the production process by designing a semi-automatic system for molding process in this research. The idea is to using a manipulator that used in molding part instead of manpower. Because molding process includes a planer motion, a scara manipulator has been used in design. Moreover, along with project goals and challenges, a fuzzy adaptive controller has been used considering the actuator dynamics for more stability of manipulator. Using cement plast composite has some problems such as low mechanical properties and because of high viscosity in this research, composite has been improved in order to reach mechanical properties. The results show the improvement of mechanical and apparent properties. Also the results of simulation confirm the efficiency of control system. key words: artificial stone, artificial travertine, robot manipulator, scara, cement plast, fuzzy adaptive controller