In　this　research,　we　develop　an　interactive　robot　system　for　object　manipulation,　which　uses　interactive　GUI　for　supporting　robot　operation　to　acquire　target　object　such　as　book　picking　from　bookshelf.　Interactive　functions　of　service　robotic　system　are　indispensability　because　robot　has　not　enough　capability　in　recognition　and　judgment　even　using　many　kinds　of　sensors.　The　developed　system　supports　the　robot　manipulation　in　all　processing　of　robot　performing　the　task　such　as　inserting,　grasping　and　drawing.　We　developed　algorithm　to　recognize　the　target　book　selected　by　user　and　developed　manipulation　modules　according　to　the　state　of　target　books.　In　order　to　enable　the　user　to　access　the　robot　easily,　we　developed　interactive　GUI.　This　paper　describes　the　architecture　of　the　proposed　system　and　gives　some　experimental　results.