Patent ID: 6891597

Claim:
A driving apparatus which drives an object along a guide surface in X and Y directions, said apparatus comprising: a first actuator which drives the object in the X direction; a second actuator which drives the object in the Y direction; and a controller which controls said first and second actuators, wherein said first and second actuators each have a reaction force counter which moves upon receipt of a reaction force generated in driving the object, and in moving the object standing at a first position to a second position and stopping the object, said controller controls said first and second actuators such that an acceleration period during which said first actuator accelerates the object and an acceleration period during which said second actuator accelerates the object coincide with each other, and a deceleration period during which said first actuator decelerates the object and a deceleration period during which said second actuator decelerates the object coincide with each other, so as to move the object on a straight line connecting the first position and the second position.