This work proposes a predictive controller with interpolation in order to improve the behaviour of a typical MPC when the system presents constraints. Particularly, it is interesting to see how the interpolation, between the solution of the optimal unconstrained problem and other feasible solutions, assures the stability of the system in presence of disturbances. The system in which the controller is applied is a two-link robot manipulator arm. The predictive controller is inserted in an adaptive perturbation scheme to change adequately the nominal inputs, given by an inverse dynamics controller, in order to reject the disturbances produced. The efficiency of the proposed strategy is shown by simulation.