The legacy component which is “model” doesn’t work with glb assets, you have to use the Render component to load it.
Here is an example of loading glb assets and adding a render component at run time to render them https://playcanvas.com/editor/scene/1019167
Yes, it can work with the animation legacy component, but I would suggest you use the new Anim component, here is an example of loading animations from a glb and running them through the Anim component: https://playcanvas.com/project/877109/overview/multiple-animations
Slight correction: You can use the Model Component with GLB model assets (you have to untick ‘Import Hierarchy in Asset Settings’) and the Model Component works with both the Animation and Anim Component