Patent ID: 8254811

Claim:
An image forming apparatus comprising: an image carrier on which an image is formed; an image-carrier driving unit that drives the image carrier; an image forming unit that forms the image on the image carrier; a moving member that is movable towards and away from the image carrier via a swing fulcrum; a moving-member driving unit that drives the moving member; a detecting unit that detects a position of the moving member at predetermined sampling times while the moving member is moving; and a movement control unit that performs a feedback control on the moving-member driving unit such that a detection result of the detecting unit follows a target value corresponding to each of the predetermined sampling times when the moving member moves while the image forming unit is forming the image on the image carrier, wherein the target value is a value obtained by substituting the sampling times into an equation in the form of a polynomial of time, which represents an acceleration pattern giving a minimum square integral of a time derivative of an acceleration in a moving direction of the moving member.