Legal Control System?

[TwoFacedGunmen]

I've looked through the rules, and can't find anything that says I can't do this, but by no means does that mean I am misinterpreting something or simply not looking in the right spot.

The idea:
Our robot will be using a articulated arm. We intend to use potentiometers to get the angle of each joint, and use information from said sensors to build preset configurations to easily place the tubes at certain peg levels. But we would still have a manual system just in case.
My idea for a manual control system is to build a miniature arm. This arm would be a scale model of the one on the robot. The mini arm would be equipped with potentiometers just like the full scale arm. Thus, when the miniarm is moved by a driver, the full scale will move to match.
If legal, the mini arm will be placed on a scale robot as a reference point, so that we don't accidentally smash the real arm into ourselves or the floor.
Is a miniarm control system legal?