This article presents the construction of an aerial manipulator robot composed of one or two robotic arms on an unmanned aerial vehicle, in order to execute control tasks in an autonomous or tele-operated manner. This aerial manipulator robot can work with one or two arms depending on the application requirements. The arms have been designed to serve several purposes: object manipulation and protect the actuating servos against direct impacts and overloads. Finally, a trajectory tracking algorithm is implemented and the simulation results are presented and discussed, which validate the controller and the proposed modeling.