Hi…
The five icons that are to the right of the “Camera Cube” are your view controls… They are for moving your view around the scene…
The top one, ball with the curved arrow, is to orbit your view
Next, the cross, is to move your view left, right, up and down
The magnifying glass is to zoom in or out
The box or square, is to center your view on the selected object
And the circle with the up arrow returns the view to the default view…
Another thing is that when you move your mouse pointer over the manipulator in the viewport, any part of it that highlights is a translation or rotation that you can do by Left click and hold on the highlighted part of the manipulator…
As barbult suggested, try the different tools and see which one you like best for large movements, and then use the parameter sliders for the small incremental movements….
Hope this helps… 