This work presents the modeling and control of an aerial manipulator based on a quadrotor with a robotic arm using the dual quaternion approach. First the kinematic model of the complete system is obtained using dual quaternions to represent multiple rotations and translations, then the dynamic model is developed via the Newton-Euler formalism. A position control law is used to stabilize the vehicle around a desired position and orientation using a smooth trajectory. The closed-loop system is then numerically simulated to corroborate stability. In addition, experimental flight tests were performed for validation.