With the increasing demand for power supply reliability, innovations in live-line work technology for distribution networks have become increasingly important. The development of drone technology has driven the application of flying robotic arm systems in live-line operations, effectively addressing safety risks, low efficiency, and poor environmental adaptability associated with traditional manual operations. This paper concentrates on the trajectory tracking control of joint modules in aerial robotic manipulators, with the objective of improving operational accuracy and safety during live-wire maintenance tasks. To this end, a robust control algorithm based on the Generalized UdwadiaKalaba (GUK) theory is proposed for trajectory tracking control under integrated constraints. The algorithm constructs a framework that includes both equality and inequality constraints, transforming the trajectory tracking problem into a constrained tracking problem. The Udwadia-Kalaba equation is used to handle equality constraints, and a differential isomorphism method is applied to address the inequality constraints, resulting in a control strategy that combines both equality and inequality control terms to solve for the constraint forces. Simulation results demonstrate that this control method significantly improves the accuracy and stability of trajectory tracking.