Patent Publication Number: US-2023156332-A1

Title: Control method, control device, image-capturing apparatus, and computer readable recording medium

Description:
BACKGROUND 
     1. Technical Field 
     The contents of the following Japanese patent application(s) are incorporated herein by reference: 
     NO. 2021-184604 filed in JP on Nov. 12, 2021 
     The present invention relates to a control method, a control device, an image-capturing apparatus, and a computer readable recording medium. 
     2. Related Art 
     Patent document 1 discloses that a closed loop driving signal to be adopted to an optical camera shake correction actuator is used to improve an evaluation on a position of a moving body, and a measurement value from a position sensor is adjusted such that a crosstalk between axes of optical camera shake correction is compensated. 
     PRIOR ART DOCUMENT 
     Patent Document 
     Patent document 1: U.S. Pat. No. 9,560,247 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    shows an example of an image-capturing apparatus according to the present embodiment. 
         FIG.  2    shows a behavior of a movement and a rotation of an image-capturing element. 
         FIG.  3    shows a behavior of driving of an electromagnetic actuator. 
         FIG.  4    shows a behavior when driving a movable member with two electromagnetic actuators. 
         FIG.  5    shows a state in which four electromagnetic actuators and four position sensors are arranged above a substrate. 
         FIG.  6 A  illustrates that the electromagnetic actuator gives a thrust of a component in an X direction to the substrate. 
         FIG.  6 B  illustrates that the electromagnetic actuator gives a thrust of a component in a Y direction to the substrate. 
         FIG.  6 C  illustrates that the electromagnetic actuator gives a thrust of a component of a rotation to the substrate. 
         FIG.  6 D  illustrates a component of an excess degree of freedom given by the electromagnetic actuator to the substrate. 
         FIG.  7    shows an example of functional blocks of the image-capturing apparatus. 
         FIG.  8    shows an example of a circuit configuration of an image-capturing element driving unit. 
         FIG.  9    illustrates a case where a focus lens is moved and rotated with one straight advance movement degree of freedom and two rotational degrees of freedom. 
         FIG.  10    illustrates a case where a zoom lens is moved with one straight advance movement degree of freedom. 
         FIG.  11    illustrates the case where the zoom lens is moved with one straight advance movement degree of freedom. 
         FIG.  12    shows an example of a hardware configuration. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all of the combinations of features described in the embodiments are essential to the solving means of the invention. 
       FIG.  1    shows an example of an image-capturing apparatus  10  according to the present embodiment. A mobile terminal such as a mobile phone, a tablet, a laptop computer, or a small computer may function as the image-capturing apparatus  10 . 
     The image-capturing apparatus  10  captures an image of an object  20 . At this time, if a user holding the image-capturing apparatus  10  moves or rotates a position of the image-capturing apparatus  10 , an irregularity due to an image shake would be generated in the captured picture image. For example, during the image-capturing, the user may move or rotate the image-capturing apparatus  10  in a direction such as an X direction, a Y direction, a Z direction, an angle θ x , an angle θ y , or an angle θ z . The angle θ x , the angle θ y , and the angle θ z  represent a rotation angle around an X axis, a rotation angle around a Y axis, and a rotation angle around a Z axis, respectively. Therefore, the image-capturing apparatus  10  has a function of detecting a moving direction and a rotation direction of itself, and moving or rotating an optical system such as a lens or an image-capturing element to a direction opposite to the detected moving direction to correct an image shake. 
       FIG.  2    shows a behavior of a movement and a rotation of an image-capturing element  120 . The image-capturing element  120  is movable in an XY plane, and is rotatable on an axis along the Z axis intersecting with the XY plane. The image-capturing apparatus  10  corrects an image shake by moving the image-capturing element  120  in the XY plane or rotating the image-capturing element  120  on the axis along the Z axis, in a direction opposite to the detected moving direction and rotation direction of itself. 
     An electromagnetic actuator, i.e., a voice coil motor can be utilized as an actuator that becomes a driving source to drive the image-capturing element  120 .  FIG.  3    shows a behavior of driving of an electromagnetic actuator  210 . The electromagnetic actuator  210  includes an air-core coil  212  and a magnet  214 . A substrate  122  is an example of a movable member, and the image-capturing element  120  is arranged above the substrate  122 . That is, the image-capturing element  120  is movable together with the substrate  122 . 
     If current is supplied to the air-core coil  212  in a magnetic field of the magnet  214 , a force is generated in the air-core coil  212  in a direction perpendicular to the field. In this manner, a thrust along an arrow direction  230  is given to the substrate  122 . A position sensor  224  is arranged in an air-core portion  2241  of the air-core coil  212  above the substrate  122 . The position sensor  224  may be a magnetic sensor such as a Hall element. The position sensor  224  may output a voltage of a magnitude according to a variation of the magnetic field. By a movement of the substrate  122 , a positional relation between the position sensor  224  and the magnet  214  is varied, and a magnitude of the magnetic field detected with the position sensor  224  is varied. In this manner, the position sensor  224  detects a position of the position sensor  224 , i.e., a position of the substrate  122 , with respect to the magnet  214 . It should be noted that the present embodiment describes an embodiment in which the air-core coil  212  is arranged above the substrate  122 . However, the magnet  214  may be arranged above the substrate  122 . 
       FIG.  4    shows a behavior when driving a movable member  12  such as the substrate  122  with two electromagnetic actuators  210 A,  210 B. When driving the movable member  12  with the electromagnetic actuators  210 A,  210 B, in a state where a position  240 B of a position sensor  224 B moved by driving of one electromagnetic actuator  210 B reaches a target position  242 B in relation to a magnet  214 B, a position  240 A of a position sensor  224 A moved by driving of the other electromagnetic actuator  210 A may not reach a target position  242 A in relation to a magnet  214 A. In such case, current further flows in an air-core coil  212 A of the other electromagnetic actuator  210 A such that the position  240 A of the position sensor  224 A reaches the target position  242 A in relation to the magnet  214 A. In this manner, once the position  240 A of the position sensor  224 A reaches the target position  242 A in relation to the magnet  214 A, the position  240 B of the position sensor  224 B is displaced with respect to the target position  242 B in relation to the magnet  214 B. By repeating this, current continually flows in the air-core coil  212 A and the air-core coil  212 B, and electrical power consumed in the electromagnetic actuators  210 A,  210 B may increase. 
     In addition, the position  240 A of the position sensor  224 A may not reach the target position  242 A in relation to the magnet  214 A, and the position  240 B of the position sensor  224 B may not reach the target position  242 B in relation to the magnet  214 B. In such case, in a state where the movable member  12  maintains a present posture, current continually flows in the air-core coil  212 A of the electromagnetic actuator  210 A such that the position  240 A of the position sensor  224 A reaches the target position  242 A in relation to the magnet  214 A, and current also continually flows in the air-core coil  212 B of the electromagnetic actuator  210 B such that the position  240 B of the position sensor  224 B reaches the target position  242 B in relation to the magnet  214 B. In this manner, electrical power consumed in the electromagnetic actuators  210 A,  210 B may increase. 
     These phenomena occur because a solution to a simultaneous equation for a sensed position of the movable member  12  and a target position cannot be derived as shown below, due to a position displacement between a position of the movable member  12  sensed with the position sensor  224 A and the position sensor  224 B and an actual position of the movable member  12  caused by a manufacturing error of the position sensor  224 A and the position sensor  224 B, an influence of a magnetic field existing in the surroundings other than the magnetic fields of the magnet  214 A and the magnet  214 B, or the like. An increase in an electrical power consumption from the failure to derive the solution of the simultaneous equation may be caused when the electromagnetic actuators  210 A,  210 B are independently controlled. That is, it may be caused when a detection result of the position sensor  224 A is used for a feedback control of the electromagnetic actuator  210 A and not used for a feedback control of the electromagnetic actuator  210 B, whereas a detection result of the position sensor  224 B is used for the feedback control of the electromagnetic actuator  210 B and not used for the feedback control such as a PID control of the electromagnetic actuator  210 A. 
     Such phenomena can be prevented if each target position of the movable member  12  for reaching a target posture of the movable member  12  matches each position detected with each position sensor  224 , respectively. That is, such phenomena can be prevented if each target position of the movable member  12  for reaching the target posture of the movable member  12  can be accurately derived in consideration of a position displacement in each position sensor  224 . 
       FIG.  5    shows a state in which four electromagnetic actuators  210 A,  210 B,  210 C,  210 D (hereinafter, may be collectively referred to as the electromagnetic actuators  210 ) and four position sensors  224 A,  224 B,  224 C,  224 D (hereinafter, may be collectively referred to as the position sensors  224 ) are arranged above the substrate  122 . Receiving thrusts from the four electromagnetic actuators  210 , with three degrees of freedom, the substrate  122  moves in an X direction and a Y direction and rotates on a rotational axis along the Z axis perpendicular to the XY plane. 
     As shown in  FIG.  6 A , the electromagnetic actuator  210 A and the electromagnetic actuator  210 B give the substrate  122  thrusts of a component X 1  and a component X 2  in the X direction in a coordinate system of the substrate  122 . As shown in  FIG.  6 B , the electromagnetic actuator  210 C and the electromagnetic actuator  210 D give the substrate  122  thrusts of a component Y 1  and a component Y 2  in the Y direction in the XY coordinate system of the substrate  122 . In addition, as shown in  FIG.  6 C , the electromagnetic actuators  210 A,  210 B,  210 C,  210 D give the substrate  122  a thrust of a rotational component θ by a synthesis of respective thrust component X 1 , component X 2 , component Y 1 , component Y 2 . Furthermore, as shown in  FIG.  6 D , if an error is included in a position detected with the position sensors  224 , an excess degree of freedom component R which does not contribute to a movement and a rotation of the substrate  122  and originally should not exist, exists in addition to the degrees of freedom X component and Y component and the rotational component θ which contribute to the movement and the rotation of the substrate  122 . 
     A position of the electromagnetic actuator  210 A in a coordinate system A detected with the position sensor  224 A is denoted by x1. A position of the electromagnetic actuator  210 B in a coordinate system B detected with the position sensor  224 B is denoted by x2. A position of the electromagnetic actuator  210 C in a coordinate system C detected with the position sensor  224 C is denoted by y1. A position of the electromagnetic actuator  210 D in a coordinate system D detected with the position sensor  224 D is denoted by y2. In addition, each target position that should be detected with each position sensor  224  corresponding to a target posture (X, Y, θ) is denoted by x1 T , x2 T , y1 T , y2 T . 
     A relationship between the target posture (X, Y, θ) and the target positions (x1 T , x2 T , y1 T , y2 T ) can be mathematically expressed by the following formula (1). 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           X 
                         
                       
                       
                         
                           Y 
                         
                       
                       
                         
                           θ 
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       1 
                       2 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                           
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                             0 
                           
                           
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                             1 
                           
                         
                         
                           
                             
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                     ⁢ 
                     
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                               x 
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                                 1 
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                               x 
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                                 2 
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                               y 
                               ⁢ 
                               
                                 1 
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                               y 
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     To derive the target positions (x1 T , x2 T , y1 T , y2 T ) satisfying the target posture (X, Y, θ), it is necessary to derive a solution of the simultaneous equation satisfying four variables (X1 T , x2 T , y1 T , y2 T ) in relation to three variables (X, Y, θ). However, as described above, a position detected with the position sensors  224  has a possibility of including an error. Therefore, the solution of the simultaneous equation satisfying four variables (x1, x2, y1, y2) in relation to three variables (X, Y, θ) may not be derived. In such case where the solution cannot be derived, the posture of the substrate  122  cannot be made to a target posture, and there is a possibility of an increase in electrical power consumed in each electromagnetic actuator  210 . 
     Therefore, in consideration of the excess degree of freedom component R, the solution of the simultaneous equation satisfying the target positions (x1 T , x2 T , y1 T , y 2   T ) which are four variables will be derived as shown in the following formula (2) in relation to four variables (X, Y, θ, R). 
     
       
         
           
             
               
                 
                   
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     With the numerical formula having the above-described matrix, each solution for X1  T , x2 T , y1 T , y2 T  can be derived even when an error is included in a position detected with the position sensors  224 . 
     The excess degree of freedom component R may be derived from the following formula (3) having each reference point of the substrate  122  detected with the position sensors  224 , for example, positions x1, x2, y1, y2 which are positions in the substrate  122  where each position sensor  224  is arranged, as variables. 
     
       
         
           
             
               
                 
                   
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                   = 
                   
                     
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     That is, the excess degree of freedom component R may be derived based on a value corresponding to the position of each reference point detected with each position sensor  224  and the numerical formula having the above-described 4×4 matrix. It should be noted that each component of the numerical formula having the 4×4 matrix of the formula (3) is an example, and each component may be adjusted according to a magnetic characteristic of each position sensor  224 , the position detected with the position sensors  224 , the target position, and the like. In addition, after deriving the R using the formula (3), a feedback control is performed to move each position of each reference point to each target position according to the formula (2). At the time of this feedback control, the target position may be adjusted by performing an arithmetic processing of magnifying by a scale of the R. 
       FIG.  7    shows an example of functional blocks of the image-capturing apparatus  10 . The image-capturing apparatus  10  includes a control unit  110 , the image-capturing element  120 , an image-capturing element driving unit  200 , an optical system  130 , a lens driving unit  132 , a lens driving unit  134 , a lens driving unit  136 , a storage unit  140 , and a vibration detection unit  150 . 
     The optical system  130  includes a zoom lens  131 , a focus lens  133 , and an image shake correcting lens  135 . The focus lens  133  and the image shake correcting lens  135  may be formed of at least one lens. That is, at least one lens may provide both functions of a focus control and an image shake correction. The image-capturing apparatus  10  includes an Optical Image Stabilizer (OIS) and an In-Body Image Stabilizer (BIS). The image-capturing apparatus  10  may include at least either of the Optical Image Stabilizer (OIS) and the In-Body Image Stabilizer (BIS). The OIS performs an image shake correction by moving or rotating the image shake correcting lens  135 . The BIS performs an image shake correction by moving or rotating the image-capturing element  120 . If the image-capturing apparatus  10  includes both the OIS and the BIS, an image shake correction may be performed such that vibrations of different frequency bands are suppressed with each of the OIS and the BIS. 
     The image-capturing element  120  may be formed of a CCD or CMOS. The image-capturing element  120  outputs, to the control unit  110 , a picture image data of an optical image that is imaged via the zoom lens  131 , the focus lens  133 , and the image shake correcting lens  135 . 
     The control unit  110  may be formed of a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The control unit  110  may be formed of a system-on-chip (SoC). The storage unit  140  may be a computer readable recording medium, and it may include at least one of SRAM, DRAM, EPROM, EEPROM (registered trademark) and a flash memory such as a USB memory. The storage unit  140  stores therein a program or the like necessary for allowing the control unit  110  to control the image-capturing element  120 , the optical system  130 , and the like. The storage unit  140  may be provided inside a housing of the image-capturing apparatus  10 . The storage unit  140  may be provided in a manner that is removable from the housing of the image-capturing apparatus  10 . 
     The zoom lens  131 , the focus lens  133 , and the image shake correcting lens  135  may include at least one lens. At least a part or all of the zoom lens  131  and the focus lens  133  are movably arranged along an optical axis. 
     The lens driving unit  132  moves the zoom lens  131  along the optical axis according to a zoom control instruction. The lens driving unit  134  moves the focus lens  133  along the optical axis according to a focus control instruction. The lens driving unit  136  moves the image shake correcting lens  135  in a plane (XY plane) intersecting with the optical axis according to an image shake correction instruction. The lens driving unit  136  may rotate the image shake correcting lens  135  on axes (the X axis and the Y axis) along the plane intersecting with the optical axis according to the image shake correction instruction. The lens driving unit  132 , the lens driving unit  134 , and the lens driving unit  136  may include an electromagnetic actuator, i.e., a voice coil motor, as a driving source. The lens driving unit  132 , the lens driving unit  134 , and the lens driving unit  136  may include a shape memory alloy (SMA) actuator or piezo (piezoelectric) actuator as a driving source. The lens driving unit  132  and the lens driving unit  134  may include a stepping motor as a driving source. 
     The vibration detection unit  150  outputs a vibration signal indicating a vibration of the image-capturing apparatus  10 . The vibration detection unit  150  may include a gyro sensor detecting an angular velocity of the image-capturing apparatus  10 . The gyro sensor detects each of angular velocities having the axes along the X axis, the Y axis, and the Z axis as the centers. The vibration detection unit  150  may include an acceleration sensor for detecting an acceleration of the image-capturing apparatus  10 . The vibration detection unit  150  may include an inertial measurement unit (IMU) for detecting angular velocities of the image-capturing apparatus  10  having the axes along the X axis, the Y axis, and the Z axis as the centers, and an acceleration of the image-capturing apparatus  10  in the X axis, Y axis, and Z-axis directions of the image-capturing apparatus  10 . 
     The image-capturing element driving unit  200  moves the image-capturing element  120  in the plane intersecting with the optical axis according to the image shake correction instruction. In addition, the image-capturing element driving unit  200  rotates the image-capturing element  120  on an axis along the optical axis according to the image shake correction instruction. The image-capturing element driving unit  200  may move and rotate the image-capturing element  120  with three degrees of freedom. The image-capturing element driving unit  200  may move the image-capturing element  120  along the XY plane, and rotate the image-capturing element  120  on the axis along the Z axis. 
     The control unit  110  controls the entire image-capturing apparatus  10 . The control unit  110  controls the lens driving unit  132 , the lens driving unit  134 , the lens driving unit  136 , and the image-capturing element driving unit  200 . 
       FIG.  8    shows an example of a circuit configuration of the image-capturing element driving unit  200 . The image-capturing element driving unit  200  includes the electromagnetic actuators  210 A,  210 B,  210 C,  210 D, and integrated circuits  220 A,  220 B,  220 C,  220 D. 
     The electromagnetic actuators  210 A,  210 B,  210 C,  210 D include air-core coils  212 A,  212 B,  212 C,  212 D (hereinafter, may be collectively referred to as the air-core coils  212 ) and magnets  214 A,  214 B,  214 C,  214 D (hereinafter, may be collectively referred to as the magnets  214 ). The air-core coils  212  may be provided for the substrate  122  equipped with the image-capturing element  120 . The magnets  214  may be arranged in a holding member for holding the substrate  122  in a manner movable along an imaging area of the image-capturing element  120  and rotatable on the axis along the optical axis. The holding member may be, for example, the housing of the image-capturing apparatus  10 . The substrate  122  may be movably and rotatably supported by the housing of the image-capturing apparatus  10  via an elastic body such as a spring. The magnets  214  may be fixed on an inner surface-side of the housing. It should be noted that the magnets  214  may be provided for the substrate  122 , and the air-core coils  212  may be provided for the holding member such as the inner surface-side of the housing. 
     The integrated circuit  220  includes a control circuit  222  and the position sensor  224 . The control circuit  222  is a driver IC for controlling a driving of the electromagnetic actuators  210 . The position sensors  224  detect positions of the position sensors  224  relative to the magnets  214 . The position sensors  224  may be magnetic sensors that detect positions of the position sensors  224  relative to the magnets  214  from a variation in a magnitude of a magnetic field caused by a variation in a positional relation between the magnets  214  and the position sensors  224 . The magnetic sensors may be Hall elements. The control circuit  222  and the position sensor  224  may be integrated to form the integrated circuit  220 . 
     The control unit  110  controls the integrated circuit  220 . As shown in  FIG.  7   , the control unit  110  includes a position information acquisition unit  111 , a target posture information acquisition unit  112 , a correction information derivation unit  113 , a target position derivation unit  114 , and an output unit  115 . 
     The position information acquisition unit  111  acquires from each position sensor  224 , respective position information (A), position information (B), position information (C), and position information (D) indicating each position of each reference point of the substrate  122 . The position information may be an information indicating a magnitude of a magnetic field detected with the position sensors  224 . 
     The target posture information acquisition unit  112  acquires a target posture information indicating a target posture of the substrate  122 . When moving or rotating the image-capturing element  120  or the image shake correcting lens  135  as a movable member to correct an image shake, the target posture information is derived from a vibration signal detected with the vibration detection unit  150 . The target posture information acquisition unit  112  may acquire the target posture information of the substrate  122  indicating the target posture of the substrate  122  for moving and rotating the substrate  122  and the image-capturing element  120  in a direction canceling a vibration of the image-capturing apparatus  10  identified based on a detection result of the vibration detection unit  150 . The target posture information indicates a target posture (X, Y, θ) including XY coordinate values of main reference points in the coordinate system and a rotation amount from a reference posture of the substrate  122 . The target posture (X, Y, θ) includes an X component, a Y component, and a A component associated with a movement or rotation of the substrate  122 . It should be noted that, when moving the focus lens  133  as a movable member to perform a focus control, the target posture information may indicate the target position in an optical axis-direction of the focus lens  133  to achieve a focusing state specified by the focus control instruction. In addition, when moving the zoom lens  131  as a movable member to perform a zoom control, the target posture information may indicate the target position in an optical axis-direction of the zoom lens  131  to achieve a target zoom magnification specified by the zoom control instruction. 
     The correction information derivation unit  113  derives a correction information indicating a corrective component for correcting an error in respective target positions of four reference points of the substrate  122  due to another one degree of freedom component other than the X component, the Y component, and the A component which are the three degrees of freedom components associated with a movement or rotation of the substrate  122 , according to a predefined algorithm having four values corresponding to the positions of the four reference points of the substrate  122  indicated in the respective position informations (A), (B), (C), (D) as variables. The predefined algorithm may be defined with, for example, a numerical formula of a 4×4 matrix. The correction information derivation unit  113  may derive a correction information according to each value x1, x2, y1, y2 corresponding to the position of each reference point of the substrate  122  and the numerical formula of the 4×4 matrix shown in the formula (3). 
     The target position derivation unit  114  derives respective target positions x1 T , x2 T , y1 T , y2 T  of the four reference points of the substrate  122  based on the three degrees of freedom X component, Y component, and A component indicated in the target posture information and the corrective component R for the another one degree of freedom indicated in the correction information. The target position derivation unit  114  derives respective target positions x1 T , x2 T , y1 T , y2 T  of the four reference points of the substrate  122  according to the predefined algorithm, based on the three degrees of freedom X component, Y component, and A component indicated in the target posture information and the corrective component R for the another one degree of freedom indicated in the correction information. The target position derivation unit  114  may derive the target positions x1 T , x2 T , y1 T , y2 T  according to the formula (2) which is a numerical formula of a 4×4 matrix, based on the three degrees of freedom X component, Y component, and A component indicated in the target posture information and the corrective component R for the another one degree of freedom indicated in the correction information. 
     The output unit  115  outputs the target position informations (A), (B), (C), (D) indicating the respective target positions x1 T , x2 T , Y1  T , y2 T  to respective control circuits  222 A,  222 B,  222 C,  222 D. 
     The control circuit  222  controls the electromagnetic actuators  210  according to the target position information. The control circuit  222  controls the electromagnetic actuators  210  with a PID control according to the target position indicated in the target position information. 
     As described above, according to the present embodiment, each target position of each reference point of the substrate  122  can be derived in consideration of an excess degree of freedom that does not contribute to a movement or rotation of the substrate  122  which is a movable member. Accordingly, even when an error is included in the position of each reference point detected with each position sensor  224 , it is possible to prevent an increase in electrical power consumption by each electromagnetic actuator  210  due to a failure of the substrate  122  becoming the target posture. 
     The above-described embodiment described an example in which the image-capturing element  120  is moved and rotated with three degrees of freedom by separately controlling the four electromagnetic actuators  210 . However, other embodiments may be used as long as the number of electromagnetic actuators  210  separately controlled is larger than the number of degrees of freedom contributing to a movement or rotation of the movable member. 
     That is, the control unit  110  may control m+n control circuits  222  for separately controlling each of m+n electromagnetic actuators  210  which move or rotate a movable member with m degrees of freedom. m and n are positive integers. 
     The position information acquisition unit  111  may acquire respective position informations indicating each of m+n positions of the movable member from m+n position sensors  224  detecting each of m+n positions of the movable member. The target posture information acquisition unit  112  may acquire a target posture information indicating a target posture of the movable member with m degrees of freedom component associated with a movement or rotation of the movable member. 
     The correction information derivation unit  113  may derive a correction information indicating a corrective component for correcting an error in the respective target positions of m+n positions of the movable member due to at least one of n degrees of freedom components other than m degrees of freedom associated with a movement or rotation of the movable member, based on at least one value of m+n values corresponding to m+n positions of the movable member indicated in the respective position informations. The correction information derivation unit  113  may derive a correction information indicating a corrective component for correcting an error in the respective target positions of m+n positions of the movable member due to at least one of n degrees of freedom components other than m degrees of freedom associated with a movement or rotation of the movable member, according to a predefined algorithm having at least one of m+n values corresponding to m+n positions of the movable member indicated in the respective position informations as a variable. The correction information derivation unit  113  may derive a correction information indicating a corrective component for correcting an error in the respective target positions of m+n positions of the movable member due to n degrees of freedom other than m degrees of freedom associated with a movement or rotation of the movable member, according to a predefined (m+n)×(m+n) matrix having m+n values corresponding to m+n positions of the movable member indicated in the respective position informations as variables. 
     The target position derivation unit  114  may derive the respective target positions of m+n reference points of the movable member based on m degrees of freedom components indicated in the target posture information and the corrective component for n degrees of freedom indicated in the correction information. The target position derivation unit  114  may derive the respective target positions of m+n reference points of the movable member according to m degrees of freedom components indicated in the target posture information, the corrective component for n degrees of freedom indicated in the correction information, and the predefined (m+n)×(m+n) matrix. The output unit  115  may output the respective target position informations indicating the respective target positions to each of m+n control circuits  222  to allow the movable member to achieve the target posture. The correction information derivation unit  113  may derive the correction information without using the (m+n)×(m+n) matrix. For example, m degrees of freedom components associated with a movement or rotation of the movable member is derived according to a predefined m×(m+n) matrix, and m+n variables are obtained according to a predefined (m+n)×m matrix corresponding to an inverse transformation of the predefined m×(m+n) matrix. The correction information derivation unit  113  may derive the correction information by deriving a difference between those m+n variables and the positions detected with the original m+n position sensors  224 . 
     An example in which the image-capturing element  120  is moved and rotated with two straight advance movement degrees of freedom and one rotational degree of freedom has been described above. However, the present technique may be adopted to a case where not the image-capturing element  120  but the optical system  130  is moved and rotated with one straight advance movement degree of freedom and two rotational degrees of freedom. 
     As shown in  FIG.  9   , the lens driving unit  136  may arrange the four magnets  214  in the holding frame which holds the focus lens  133  to move the focus lens  133  in the Z-axis direction and rotate the focus lens  133  around the X axis and around the Y axis. The lens driving unit  136  performs a focus control by moving the focus lens  133  along the Z-axis direction. Further, the lens driving unit  136  performs an image shake correction by rotating the focus lens  133  on an axis along the X axis or the Y axis. It should be noted that when an image shake correction is performed by using the focus lens  133 , the image-capturing apparatus  10  may not include the image shake correcting lens  135 . 
     Each value corresponding to the position of each reference point of the focus lens  133  detected with each position sensor  224  is denoted by z1, z2, z3, z4. The target posture includes a Z component contributing to a movement of the focus lens  133 , a θ1 component contributing to a rotation of the focus lens  133  around the X axis, and a θ2 component contributing to a rotation of the focus lens  133  around the Y axis. 
     The correction information derivation unit  113  may derive, as the correction information, the corrective component R for one excess degree of freedom according to a numerical formula of a 4×4 matrix as shown in the following formula (4) and each value z1, z2, z3, z4 corresponding to the position of each reference point of the focus lens  133 . 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           Z 
                         
                       
                       
                         
                           
                             θ 
                             ⁢ 
                             1 
                           
                         
                       
                       
                         
                           
                             θ 
                             ⁢ 
                             2 
                           
                         
                       
                       
                         
                           R 
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       1 
                       4 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                           
                             1 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             0 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                           
                             1 
                           
                           
                             0 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             
                               z 
                               ⁢ 
                               1 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               2 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               3 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               4 
                             
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   4 
                   ) 
                 
               
             
           
         
       
     
     The target position derivation unit  114  may derive respective target positions (z1 T , Z2 T , Z3 T , z4 T ) of four reference points of the focus lens  133  according to the three degrees of freedom components (Z, θ1, θ2) indicated in the target posture information, the corrective component R for one degree of freedom indicated in the correction information, and a numerical formula of a 4×4 matrix as shown in the following formula (5). 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           
                             z 
                             ⁢ 
                             
                               1 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               2 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               3 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               4 
                               T 
                             
                           
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                           
                             0 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             0 
                           
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             0 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             0 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             Z 
                           
                         
                         
                           
                             
                               θ 
                               ⁢ 
                               1 
                             
                           
                         
                         
                           
                             
                               θ 
                               ⁢ 
                               2 
                             
                           
                         
                         
                           
                             R 
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   5 
                   ) 
                 
               
             
           
         
       
     
     As shown in  FIG.  10    and  FIG.  11   , by supplying current to the air-core coils  212 , the lens driving unit  132  may move the zoom lens  131  with one straight advance movement degree of freedom along the Z-axis direction together with the magnets  214  provided for the holding frame holding the zoom lens  131 . 
     In the example of  FIG.  10   , two position sensors  224  detect each position of two reference points of the zoom lens  131  in the Z-axis direction. In this case, each value corresponding to the position of each reference point of the zoom lens  131  detected with each position sensor  224  is denoted by z1, z2. The target posture includes the Z component contributing to a movement of the zoom lens  131 . 
     The correction information derivation unit  113  may derive, as the correction information, the corrective component R for one excess degree of freedom according to a numerical formula of a 2×2 matrix as shown in the following formula (6) and each value z1, z2 corresponding to the position of each reference point of the focus lens  133 . 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           Z 
                         
                       
                       
                         
                           R 
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       1 
                       2 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             
                               z 
                               ⁢ 
                               1 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               2 
                             
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   6 
                   ) 
                 
               
             
           
         
       
     
     The target position derivation unit  114  may derive respective target positions (z1 T , z2 T ) of the two reference points of the zoom lens  131  according to the one degree of freedom component Z indicated in the target posture information, the corrective component R for one degree of freedom indicated in the correction information, and a numerical formula of a 2×2 matrix as shown in the following formula (7). 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           
                             z 
                             ⁢ 
                             
                               1 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               2 
                               T 
                             
                           
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             Z 
                           
                         
                         
                           
                             R 
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   7 
                   ) 
                 
               
             
           
         
       
     
     In the example of  FIG.  11   , four position sensors  224  detect respective positions of four reference points of the zoom lens  131  in the Z-axis direction. In this case, each value corresponding to the position of each reference point of the zoom lens  131  detected with each position sensor  224  is denoted by z1, z2, z3, z4. The target posture includes the Z component contributing to a movement of the zoom lens  131 . 
     The correction information derivation unit  113  may derive, as the correction information, components R1, R2, R3 for three excess degrees of freedom according to a numerical formula of a 4×4 matrix as shown in the following formula (8) and each value z1, z2, z3, z4 corresponding to the position of each reference point of the zoom lens  131 . 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           Z 
                         
                       
                       
                         
                           
                             R 
                             ⁢ 
                             1 
                           
                         
                       
                       
                         
                           
                             R 
                             ⁢ 
                             2 
                           
                         
                       
                       
                         
                           
                             R 
                             ⁢ 
                             3 
                           
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       1 
                       4 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                           
                             1 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             1 
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             
                               z 
                               ⁢ 
                               1 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               2 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               3 
                             
                           
                         
                         
                           
                             
                               z 
                               ⁢ 
                               4 
                             
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   8 
                   ) 
                 
               
             
           
         
       
     
     The target position derivation unit  114  may derive respective target positions (z1 T , z2 T , z3 T , z4 T ) of the four reference points of the zoom lens  131  according to the one degree of freedom component Z indicated in the target posture information, the corrective components R1, R2, R3 for three degrees of freedom indicated in the correction information, and a numerical formula of a 4×4 matrix as shown in the following formula (9). 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           
                             z 
                             ⁢ 
                             
                               1 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               2 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               3 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               4 
                               T 
                             
                           
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             1 
                           
                           
                             1 
                           
                           
                             1 
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             
                               - 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             
                               - 
                               1 
                             
                           
                           
                             1 
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             Z 
                           
                         
                         
                           
                             
                               R 
                               ⁢ 
                               1 
                             
                           
                         
                         
                           
                             
                               R 
                               ⁢ 
                               2 
                             
                           
                         
                         
                           
                             
                               R 
                               ⁢ 
                               3 
                             
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   9 
                   ) 
                 
               
             
           
         
       
     
     An example in which the correction information derivation unit  113  derives respective corrective components for n degrees of freedom has been described above. As another example, the correction information derivation unit  113  may derive the corrective component based on m degrees of freedom components derived from m+n values corresponding to m+n positions of the movable member indicated in the respective position informations. The target position derivation unit  114  may derive the respective target positions of the m+n positions of the movable member based on the m degrees of freedom components indicated in the target posture information and the m+n corrective components indicated in the correction information. 
     For example, in the example shown in  FIG.  11   , the correction information derivation unit  113  derives one degree of freedom component z o  according to the following formula (10) by using four values z1, z2, z3, z4 corresponding to the position of each reference point of the zoom lens  131  as variables. In the example shown in  FIG.  11   , the following formula (10) is derived from a dependency (z1+z2+z3+z4) of the values z1, z2, z3, z4 detected with each position sensor  224  of the first component (Z) on the left side of the above-described formula (8). Since this dependency is the total sum of the values z1, z2, z3, z4, z o  may be referred to as the corrective component of the total sum. 
         z   o =1/4( z 1+ z 2+ z 3+ z 4)   (10)
 
     The correction information derivation unit  113  derives corrective components Δz1, Δz2, Δz3, Δz4 regarding one degree of freedom component indicated in the target posture information by deriving a difference between each respective value z1, z2, z3, z4 corresponding to the position of each reference point of the zoom lens  131  and one degree of freedom component z o , i.e., the total sum corrective component z o , according to the following formula (11). 
       Δ z 1= z 1− z   o   ,Δz 2= z 2− z   o ,
 
       Δ z 3= z 3− z   o   ,Δz 4= z 4− z   o    (11)
 
     The target position derivation unit  114  may derive the respective target positions (z1 T , z2 T , z3 T , z4 T ) of the four reference points of the zoom lens  131  by the following formula (12) according to the one degree of freedom component Z indicated in the target posture information and the four corrective components Δz1, Δz2, Δz3, Δz4. 
     
       
         
           
             
               
                 
                   
                     ( 
                     
                       
                         
                           
                             z 
                             ⁢ 
                             
                               1 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               2 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               3 
                               T 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             ⁢ 
                             
                               4 
                               T 
                             
                           
                         
                       
                     
                     ) 
                   
                   = 
                   
                     
                       ( 
                       
                         
                           
                             1 
                           
                           
                             
                               Δ 
                               ⁢ 
                               z 
                               ⁢ 
                               1 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               Δ 
                               ⁢ 
                               z 
                               ⁢ 
                               2 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               Δ 
                               ⁢ 
                               z 
                               ⁢ 
                               3 
                             
                           
                         
                         
                           
                             1 
                           
                           
                             
                               Δ 
                               ⁢ 
                               z 
                               ⁢ 
                               4 
                             
                           
                         
                       
                       ) 
                     
                     ⁢ 
                     
                       ( 
                       
                         
                           
                             Z 
                           
                         
                         
                           
                             1 
                           
                         
                       
                       ) 
                     
                   
                 
               
               
                 
                   ( 
                   12 
                   ) 
                 
               
             
           
         
       
     
     As described above, according to the present embodiment, each target position of each reference point of the substrate  122  can be derived in consideration of an excess degree of freedom not contributing to a movement or rotation of the substrate  122  which is the movable member. Accordingly, even when an error is included in the position of each reference point detected with each position sensor  224 , it is possible to prevent an increase in electrical power consumption by each electromagnetic actuator  210  due to a failure of the substrate  122  becoming the target posture. 
       FIG.  12    shows an example of a computer  1200  where a plurality of aspects of the present invention may be entirely or partially embodied. Programs installed in the computer  1200  can cause the computer  1200  to function as operations associated with the device according to the embodiments of the present invention or one or more “units” of the device. Alternatively, the programs can cause the computer  1200  to execute the operations or the one or more “units”. The programs can cause the computer  1200  to execute a process according to the embodiments of the present invention or steps of the process. Such programs may be executed by a CPU  1212  to cause the computer  1200  to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in the present specification. 
     The computer  1200  according to the present embodiment includes the CPU 1212  and an RAM  1214 , which are mutually connected by a host controller  1210 . The computer  1200  also includes a communication interface  1222  and an input/output unit, which are connected to the host controller  1210  via an input/output controller  1220 . The computer  1200  also includes an ROM  1230 . The CPU  1212  operates according to the programs stored in the ROM  1230  and the RAM  1214 , thereby controlling each unit. 
     The communication interface  1222  communicates with other electronic devices via a network. A hard disk drive may store the programs and data used by the CPU  1212  in the computer  1200 . The ROM  1230  stores therein boot programs or the like executed by the computer  1200  at the time of activation, and/or programs depending on hardware of the computer  1200 . The programs are provided via a computer readable recording medium such as a CR-ROM, a USB memory, or an IC card, or a network. The programs are installed in the RAM  1214  or the ROM  1230  which is also an example of the computer readable recording medium, and executed by the CPU  1212 . Information processing written in these programs is read by the computer  1200 , and provides cooperation between the programs and the various types of hardware resources described above. The device or method may be configured by implementing operations or processings of information according to use of the computer  1200 . 
     For example, in a case where communication is performed between the computer  1200  and an external device, the CPU  1212  may execute a communication program loaded in the RAM  1214  and instruct the communication interface  1222  to perform communication processing based on a processing written in the communication program. The communication interface  1222 , under the control of the CPU  1212 , reads transmission data stored in a transmission buffer region provided in a recording medium such as the RAM  1214  or the USB memory, transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer region or the like provided on the recording medium. 
     In addition, the CPU  1212  may cause all or necessary portions of a file or database stored in an external recording medium such as a USB memory, to be read by the RAM  1214 , and execute various types of processings on the data on the RAM  1214 . Then, the CPU  1212  may write the processed data back in the external recording medium. 
     Various types of information such as various types of programs, data, tables, and databases may be stored in a recording medium and subjected to information processing. 
     The CPU  1212  may execute, on the data read from the RAM  1214 , various types of processings including various types of operations, information processing, conditional judgement, conditional branching, unconditional branching, information retrieval/replacement, or the like described throughout the present disclosure and specified by instruction sequences of the programs, and writes the results back to the RAM  1214 . In addition, the CPU  1212  may retrieve information in a file, a database, or the like in the recording medium. For example, when a plurality of entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored in the recording medium, the CPU  1212  may retrieve, out of the plurality of entries, an entry with the attribute value of the first attribute specified that meets a condition, read the attribute value of the second attribute stored in said entry, and thereby acquiring the attribute value of the second attribute associated with the first attribute satisfying a predefined condition. 
     The programs or software modules described above may be stored in a computer readable storage medium on or near the computer  1200 . In addition, a recording medium such as a hard disk or an RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer readable storage medium, thereby providing a program to the computer  1200  via the network. 
     The computer readable medium may include any tangible device that can store instructions for execution by a suitable device. As a result, the computer readable medium having instructions stored therein includes an article of manufacture including instructions which can be executed to create means for performing operations specified in the flowcharts or block diagrams. Examples of the computer readable medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of the computer readable medium may include a floppy (registered trademark) disk, a diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an electrically erasable programmable read-only memory (EEPROM), a static random access memory (SRAM), a compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a Blu-ray (registered trademark) disk, a memory stick, an integrated circuit card, and the like. 
     Computer-readable instructions may include either a source code or an object code written in any combination of one or more programming languages. The source code or the object code includes a conventional procedural programming language. The conventional procedural programming language may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or an object-oriented programming language such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc., and programming languages, such as the “C” programming language or similar programming languages. Computer-readable instructions may be provided to a processor of a general-purpose computer, special purpose computer, or other programmable data processing device, or to programmable circuitry, locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. The processor or the programmable circuitry may execute the computer readable instructions to create means for performing operations specified in the flowcharts or block diagrams. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, and the like. 
     While the embodiments of the present invention have been described, the technical scope of the present invention is not limited to the scope described in the embodiments described above. It is apparent to persons skilled in the art that various alterations or improvements can be added to the embodiments described above. It is also apparent from the descriptions of the scope of the claims that the embodiments added with such alterations or improvements can also be included in the technical scope of the present invention. 
     It should be noted that each processing such as operations, procedures, steps, and stages in a device, a system, a program, and a method shown in the claims, the specification, and the drawings may be performed in any order as long as the order is not particularly indicated by “prior to,” “before,” or the like and as long as the output from a previous processing is not used in a later processing. Even if the operation flow is described using phrases such as “first” or “then” for convenience in the claims, the specification, and the drawings, it does not necessarily mean that the processing must be performed in this order. 
     EXPLANATION OF REFERENCE NUMERALS 
       10  image-capturing apparatus 
       20  object 
       110  control unit 
       111  position information acquisition unit 
       112  target posture information acquisition unit 
       113  correction information derivation unit 
       114  target position derivation unit 
       115  output unit 
       120  image-capturing element 
       122  substrate 
       130  optical system 
       131  zoom lens 
       133  focus lens 
       135  image shake correcting lens 
       132 ,  134 ,  136  lens driving unit 
       140  storage unit 
       150  vibration detection unit 
       200  image-capturing element driving unit 
       210 A,  210 B,  210 C,  210 D electromagnetic actuator 
       212 A,  212 B,  212 C,  212 D air-core coil 
       214 A,  214 B,  214 C,  214 D magnet 
       220 A,  220 B,  220 C,  220 D integrated circuit 
       222 A,  222 B,  222 C,  222 D control circuit 
       224 A,  224 B,  224 C,  224 D position sensor 
       1200  computer 
       1210  host controller 
       1212  CPU 
       1214  RAM 
       1220  input/output controller 
       1222  communication interface 
       1230  ROM