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In assembly operations by the industrial robot, the shaft insertion is very important and frequently performed. We have studied the shaft inserting system for the moving object by using a PSD (Position Sensitive Detector). In this paper, we propose the new position error detecting sensor in which four dimensional PSDs are arranged in cross. This sensor can detect the position error and inclined angle between the center of shaft and the hole in real time. At first, we show the detecting principle of the position and the inclined angle of this sensor. Next, we show the configuration of the robot system with this sensor. Using this robot system, the robot can insert a shaft into no inclination hole of the moving object with a clearance of 50 μm at a velocity of 80 mm/s. From the experimental result for the inclined angle detection, the characteristic of the inclined angle detection differed from the one of the theoretical output. We verify the difference between the experiment result and the theory result.