Control method, control apparatus, image capturing apparatus, and computer readable storage medium

A control apparatus which controls m+n (m and n are positive integers) control circuits each of which independently controls each of m+n driving sources moving or rotating a movable member with m degrees of freedom, the control apparatus comprising at least one processor configured to:

• acquire respective position information indicating a position of the movable member from each of m+n position sensors which are provided at different positions relative to the movable member and detect a position of the movable member;
• acquire target posture information indicating a target posture of the movable member with m degrees of freedom components associated with a movement or a rotation of the movable member;
• derive correction information indicating a corrective component for correcting misalignments of m+n target positions of the movable member caused due to at least one of n degrees of freedom components other than m degrees of freedom associated with a movement or a rotation of the movable member, based on at least one value of m+n values corresponding to positions of the movable member indicated in the respective position information;
• derive m+n target positions of the movable member for the m+n control circuits, based on m degrees of freedom components indicated in the target posture information, the corrective component indicated in the correction information, and a set of coefficients predefined according to positions of the movable member to be applied to the corrective component;
• and
• output respective target position information indicating the respective target positions to each of the m+n control circuits to bring the movable member into a target posture.

A non-transitory computer readable storage medium having stored thereon a program for causing a computer to function as a control apparatus which controls m+n (m and n are positive integers) control circuits each of which independently controls each of m+n driving sources moving or rotating a movable member with m degrees of freedom, the program causing the computer to perform:

• acquiring respective position information indicating a position of the movable member from each of m+n position sensors which are provided at different positions relative to the movable member and detect a position of the movable member;
• acquiring target posture information indicating a target posture of the movable member with m degrees of freedom components associated with a movement or a rotation of the movable member;
• deriving correction information indicating a corrective component for correcting misalignments of m+n target positions of the movable member caused due to at least one of n degrees of freedom components other than m degrees of freedom associated with a movement or a rotation of the movable member, based on at least one value of m+n values corresponding to positions of the movable member indicated in the respective position information
• deriving m+n target positions of the movable member for the m+n control circuits, based on m degrees of freedom components indicated in the target posture information, the corrective component indicated in the correction information, and a set of coefficients predefined according to positions of the movable member to be applied to the corrective component;
• and
• outputting respective target position information indicating the respective target positions to each of the m+n control circuits to bring the movable member into a target posture.