First thing I would look at is water intake. If you aren't getting at least a gallon a day, up it. Next, I'd look at fish oil. 3g a day at the minimum. I've used up to 9 grams. If these things aren't working, a high quality glucosamine may work. The thing about glucosamine is, it is not cheap. You want good quality and that is going to be a little more expensive. But if it works, you should know in a month. I would look at a product like Arthrolyze by Species. 

Also, make sure you're getting warmed up before you hit the mat. At 23, you're still a kid and hopefully will be able to enjoy good health for a long time, but the older you get, the more time it takes to get your joints ready for work. On a non training day, you may want to check out yoga. I do yoga for periods of the year and I can see benefits to a lot of areas of my life. 

Another thought is creatine, Anything that will make you add fuild to your body will help to add some cushion to your joints. Same goes with gear. While on it, joints tend to feel beter. Anavar, EQ and Deca will increase collagen production, if you have any kind of specific tendon issues.