The objective of this study is to finding a solution to overcome the uncertainties and nonlinearities of a robot manipulator, like disturbances and other variations, in real-time by designing and implementing an adaptive 2- degree of freedom (DOF) proportional-integral-derivative (PID) controller. The proposed controller is performed using a supervisory fuzzy logic system (FLS). The employed controller proves its robustness in trajectory tracking. The performance analysis for PID, 2-DOF PID, and adaptive 2-DOF PID controllers is performed by doing the simulation using Matlab. On the other hand, the proposed controller is implemented practically using a microcontroller to prove that the proposed adaptive 2-DOF PID controller has a better performance compared to other traditional fixed-gain controllers. Also, the controller is more robust in the case of the presence of disturbances or other variations.