Motor control apparatus, optical apparatus, and robot manipulator apparatus

An optical apparatus comprising:

• a motor;
• an optical unit driven by the motor;
• and
• a motor control apparatus,
• wherein the motor control apparatus includes:
• 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.

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.