This paper presents a practical implementation of explicit self-tuning control to a hydraulic robot for trajectory tracking. The proposed control strategy is simple. However, it adapts itself to system variations such as load changes, noise and disturbances, and it may be suitable for non-minimum phase control systems. Computational complexity of self-tuning control is not a limitation any more because of the increased computing power of computers even for high-speed applications. This situation makes the self-tuning control an important alternative to that of proportional+integral+derivative (PID) control, which is the most widely used controller in industrial processes. Extensive experiments conducted on the hydraulic robot demonstrate and verify the control performance of the proposed self-tuning control in comparison with the traditionally designed PID control.