The objective of this paper is to investigate and find a solution by designing a fuzzy proportional-derivative (PD) controller to overcome the uncertainties of a robot manipulator in real-time, like disturbances and other variations. The fuzzy logic controller plays a big rule especially in case of lack of quantitative data relating the input to output in industrial processes and other different fields. The suggested controller achieves robust trajectory tracking. Performance analysis of the PID, 2-DOF-PID, and fuzzy PD has been done simulatively by using Matlab and practically by using a microcontroller to prove that the proposed fuzzy PD controller has advantages of faster response, better stability, and less overshoot compared to other existing controllers, in addition to in the presence of uncertainties the performance of the proposed controller for trajectory tracking is robust.