Each relationship is unique and cannot be summed up in a paragraph on paper. I have been married twice. My first was very vanilla sexually, and in other ways. We fought (bickered) a lot about a variety of things, but the bottom line was that I was bored and was tired of mothering him, and wanted someone to take care of me. I was with him for 12 years, until I left.
My second and current marriage is infinitely better. He is much more wild and kinky, does a lot to take care of and support me emotionally, etc. We fight (bicker) all the time, but we love each other and rely on each other. We can't stand to be apart for more than a few days.
My point is, fighting in a relationship is normal. People get on each other's nerves when they live in the same house, and things that were once cute become annoying after some time. That does not mean that you don't love each other.
The best way to function in a relationship is to know what is in your heart and every now and then sit down and discuss differences and reinforce your love for one another.
As for him being bipolar...this is a big issue. Yes it can be controlled with medication. Knowing and understanding that this is an underlying issue you also need to make some allowances and say to yourself "he didn't really mean to be that hurtful".
Only you can decide if the relationship is worth staying in. Do your best to understand and support him, talk to his doctors if necessary, and yes...make sure he takes his meds and does not mix alcohol or other substances that will exacerbate his problems. Then decide if you can do this for the rest of your life.