Motor control apparatus, optical apparatus, and robot manipulator apparatus

A motor control apparatus comprising:

• at least one processor;
• and
• at least one memory coupled to the at least one processor storing instructions that, when executed by the at least one processor, cause the at least one processor to function as:
• a detection unit configured to detect an actual rotation position of a motor;
• a control unit configured to provide position feedback control on the motor so that the detected actual rotation position sequentially approaches a plurality of target rotation positions;
• and
• a processing unit configured to perform, before the position feedback control starts, processing to make an initial position deviation fall within a predetermined range, the initial position deviation being a difference between the actual rotation position and a first target rotation position of the plurality of target rotation positions,
• wherein as the processing, the processing unit performs processing of changing the first target rotation position so that the first target position approaches or coincides with the actual rotation position.

A motor control apparatus comprising:

• at least one processor;
• and
• at least one memory coupled to the at least one processor storing instructions that, when executed by the at least one processor, cause the at least one processor to function as:
• a detection unit configured to detect an actual rotation position of a motor;
• a control unit configured to provide position feedback control on the motor so that the detected actual rotation position sequentially approaches a plurality of target rotation positions;
• and
• a processing unit configured to perform, before the position feedback control starts, processing to make an initial position deviation fall within a predetermined range, the initial position deviation being a difference between the actual rotation position and a first target rotation position of the plurality of target rotation positions,
• wherein the processing unit selects the processing from (a) first processing of rotating the motor so that the actual rotation position approaches or coincides with the first target rotation position, and (b) second processing of changing the first target rotation position so that the first target rotation position approaches or coincides with the actual rotation position.

A motor control method comprising:

• detecting an actual rotation position of a motor;
• providing position feedback control on the motor so that the detected actual rotation position sequentially approaches a plurality of target rotation positions;
• and
• performing, before the position feedback control starts, processing to make an initial position deviation fall within a predetermined range, the initial position deviation being a difference between the actual rotation position and a first target rotation position of the plurality of target rotation positions,
• wherein, as the processing in the performing, processing of rotating the motor is performed so that the actual rotation position approaches or coincides with the first target rotation position, and
• wherein, in the performing, at least part of the target rotation positions including the first target rotation position of the plurality of target rotation positions is changed based on a rotation direction of the motor during the processing.

A motor control method comprising:

• detecting an actual rotation position of a motor;
• providing position feedback control on the motor so that the detected actual rotation position sequentially approaches a plurality of target rotation positions;
• and
• performing, before the position feedback control starts, processing to make an initial position deviation fall within a predetermined range, the initial position deviation being a difference between the actual rotation position and a first target rotation position of the plurality of target rotation positions,
• wherein, as the processing in the performing, processing of changing the first target rotation position is performed so that the first target position approaches or coincides with the actual rotation position.

A motor control method comprising:

• detecting an actual rotation position of a motor;
• providing position feedback control on the motor so that the detected actual rotation position sequentially approaches a plurality of target rotation positions;
• and
• performing, before the position feedback control starts, processing to make an initial position deviation fall within a predetermined range, the initial position deviation being a difference between the actual rotation position and a first target rotation position of the plurality of target rotation positions,
• wherein, in the performing, the processing is selected from (a) first processing of rotating the motor so that the actual rotation position approaches or coincides with the first target rotation position, and (b) second processing of changing the first target rotation position so that the first target rotation position approaches or coincides with the actual rotation position.