This paper will present the development of a basic goniometric system for control of movements in realtime of a mini humanoid robot. The mini humanoid is Hitec's Robonova-1 with a total of 16 degrees of freedom. The first prototype only included the degrees in relation with the arm, elbow joint and one shoulder joint. The project is presented in six steps: General description of Robonova; kinematic model of ok human and android arm; mechanical structure; electronic configuration and software interface.