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In this research, we develop an interactive robot supporting system, 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. Robot technology middleware (RTM) was used in the developed system. By using RTM, we can develop robot functional elements as rdquoRT software componentsrdquo that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. This paper describes the architecture of the proposed system and gives some experimental results.