Abstarct: Now a day the most scientific papers that published in authenic journals baxsed on practical experiment of control theories on mechanical systems. In order to one of the current nonlinear mechanical system that we can impelement control theory on it, is robot manipulator, furthermore accomplishment of this project has been necessary in Shahrood University of Technology to stablish a good headstock for student of electronics, robotics and control to designing, constructing and control of same robots, so we decided to manufacture the SCARA robot and after built of its frxame, design of electronic circuit and getting in touch with computer, applying our computed torquecontrol method on it. We hope to impelement of this project could called every one “we can do”