A device and method for manipulating a robotic end effector in a well. Actuators manipulate the end effector independently through multiple degrees of freedom to improve the perspective of the end effector. An imaging sensor may be used to image, measure and identify features of a well and objects located therein. The sensor may be an ultrasound transducer, camera or x-ray sensor arranged radially, axial or distributed over a 2D surface. The end effector may be connected to a tool, such as a fishing tool, a welder, a milling tool, or a repair tool.