Shaft inserting is important and frequent operation for the automatic parts assembling. We have developed a shaft inserting system for the moving object using the robot with a cross PSD sensor. This PSD sensor can detect the position error and the angle of the target hole in real time. In this paper, we show the detecting characteristics of the inclined angle of the target hole for the cross PSD. Also we show the system diagram of the robot system with the cross PSD sensor. Then we propose the shaft inserting algorithm. By using this system, the robot can insert a shaft into a hole of the moving object with the clearance of 50μm at a velocity of 40mm/s in the case of setting the inclined angle within 5 degree. Our proposed sensor based system is effective for the shaft inserting into the hole of the moving object.
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