Patent ID: 9232141
Filing Date: 2016-01-05
CPC Classification: G03B,G05B,H04N

Claim Text:
1. A moving member control apparatus comprising: a foundation part, a moving part that is movable relatively with respect to the foundation part in a horizontal, vertical, and rotational direction, a first driving part that applies a first driving force to the moving part toward a direction different from a direction relative to a position of center of gravity of the moving part, a second driving part that applies a second driving force to the moving part toward a direction different from a direction relative to the position of center of gravity of the moving part, a third driving part that applies a third driving force to the moving part in a direction different from those relative to the first driving part and the second driving part, a control part that controls the driving forces of the first driving part, the second driving part and the third driving part, and a correction part that makes correction of a first output value produced from the control part to the first driving part and a second output value produced from the control part to the second driving part depending on a third output value produced from the control part to the third driving part, wherein: the correction part makes correction of a first output value produced from the control part to the first driving part and a second output value produced from the control part to the second driving part, depending on a third output value produced from the control part to the third driving part, in such a way as to satisfy two conditions: a first condition under which a total sum of a first rotational force occurring from the first driving force with the position of center of gravity of the moving part as a center of rotation, a second rotational force occurring from the second driving force with the position of center of gravity of the moving part as a center of rotation and a third rotational force occurring from the third driving force with the position of center of gravity of the moving part as a center of rotation becomes zero, and a second condition under which a first translational force occurring from the first driving force in the horizontal direction relative to a directional component going toward the position of center of gravity of the moving part, a second translational force occurring from the second driving force in the horizontal direction relative to a directional component going toward the position of center of gravity of the moving part and a third translational force occurring from the third driving force, the third translational force being a component in the horizontal direction which component is relative to a component in a direction toward the position of center of gravity of the moving part, becomes zero.