This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF (degrees of freedom) ma-nipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems: the quadcopter and the robot- ic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded qua- ternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dy-namics which is simplified for control (nonlinear) design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.