Hi Sarah,
I would not suspect the glucosamine as the cause of his current signs. A re-check examination with your vet would be prudent and I would ask to have a full blood panel run to check his organ function. A senior pet can have a number of older age conditions (kidney disease, liver disease, cancer, diabetes) that just might be coincidental to the start of the glucosamine.
I really encourage you to take a look at the article “Senior Pets: Not ‘Just Getting Old'” for more information on this topic.
All the best,
Dr. Ryan Llera