Control method, control device, image-capturing apparatus, and computer readable recording medium

A control device for controlling m+n control circuits separately controlling each of m+n (m and n are positive integers) actuators moving or rotating a movable member with m degrees of freedom, the control device comprising:

• a position information acquisition unit for acquiring respective position informations indicating each of m+n positions of the movable member from a detection unit detecting each of m+n positions of the movable member;
• a target posture information acquisition unit for acquiring a target posture information indicating a target posture of the movable member with m degrees of freedom components associated with a movement or rotation of the movable member;
• a correction information derivation unit for deriving a correction information indicating a corrective component for correcting an error in respective target positions of m+n positions of the movable member due to at least one of n degrees of freedom components other than m degrees of freedom associated with a movement or rotation of the movable member, based on at least one value of m+n values corresponding to m+n positions of the movable member indicated in the respective position informations;
• a target position derivation unit for deriving respective target positions of m+n positions of the movable member based on m degrees of freedom components indicated in the target posture information and the corrective component indicated in the correction information;
• and
• an output unit for outputting respective target position informations indicating the respective target positions to each of the m+n control circuits to achieve a target posture of the movable member.

A computer readable recording medium having stored therein a program for causing a computer to function as a control device for controlling m+n (m and n are positive integers) control circuits separately controlling each of m+n actuators moving or rotating a movable member with m degrees of freedom, wherein the program causes the computer to execute:

• acquiring respective position informations indicating each of m+n positions of the movable member from a detection unit detecting each of m+n positions of the movable member;
• acquiring a target posture information indicating a target posture of the movable member with m degrees of freedom components associated with a movement or rotation of the movable member;
• deriving a correction information indicating a corrective component for correcting an error in respective target positions of m+n positions of the movable member due to at least one of n degrees of freedom components other than m degrees of freedom associated with a movement or rotation of the movable member, based on at least one value of m+n values corresponding to m+n positions of the movable member indicated in the respective position informations;
• deriving respective target positions of m+n positions of the movable member based on m degrees of freedom components indicated in the target posture information and the corrective component indicated in the correction information;
• and
• outputting respective target position informations indicating the respective target positions to each of the m+n control circuits to achieve a target posture of the movable member.