The use of robotic manipulators in subsea operations allows the installation and operation of several inspection equipment needed to maintain the security of oil s production process in Brazil. Typically, the available manipulators in the market are operated through a control interface with a joystick, being dependent on human precision. In this project, a simulation of the forward and inverse kinematics for the ARM 5E Mini manipulator of five degrees of freedom is performed, as well as the elaboration of positioning control interface, allowing the individual control of the angles of each joint of the manipulator or the desired trajectory of the endeffector, dispensing the use of the joystick. In addition, the interface also features data reading such as temperature, current, position and velocity of the joints for constant system monitoring. The implementation of the control interface developed in the work will enable the use of the manipulator in subsea operations carried out by the Inspection Technology Research Center at PUCRio (CPTI PUCRio). All the algorithms were developed in Matlab and Python 2.7 and were validated through experimental tests with the manipulator.