The system (10) for the transfer of fluid comprises a tubular fluid transfer line (2) comprising at one of its ends a coupling system (32) adapted to be connected to a target duct (33) for the transfer of fluid, and electrical actuators (11-13) for controlling the movement of the transfer line in space, each via an actuating shaft, characterized in that each of the actuators for controlling the movement of the transfer line comprises an electric motor with an output shaft, a speed reducer, the actuating shaft being rotationally driven by the motor output shaft by means of the speed reducer, which is reversible, so as to enable the actuating shaft to turn when an actuating torque is directly applied to it, and braking means for locking the actuator in position when movement control is in course and that actuator is not activated for that control.