"The present work is about the simulation of an aerial manipulator with a 2DoF robotic arm. The Unmanned Aerial Vehicle and robotic arm’s mathematical modeling is obtained. The manipulator’s modeling is made through the Newton-Euler algorithm and leads to a Lagrangian expression form. A geometric controller on SE(3) is designed for angular velocity considering angular velocity errors to converge to zero using the Lyapunov direct method. Also, a position controller is designed to compute the thrust force produced by the rotors. A Proportional-Derivative joint controller is designed to compute the manipulator joint torques."