Recording apparatus and control method

A recording apparatus for performing information recording using formation of marks by focusing a first light with an objective lens at a given position in a recording layer included in an optical disc recording medium, the recording apparatus comprising:

• a rotation driving unit to rotate the optical disc recording medium;
• a focus servo control unit to condense a second light which is different from the first light via the objective lens on a reflection film provided in the optical disc recording medium, and to control a position of the objective lens so that a focal position of the second light follows the reflection film at least in part on the basis of the reflected light of the second light condensed on the reflection film;
• a recording position setting unit to set an information recording position of the first light in a focus direction by changing a collimation of the first light incident on the objective lens;
• a surface wobbling amount estimating unit, coupled to the optical disc recording medium, to estimate a surface wobbling amount of the optical disc recording medium;
• and
• a surface wobbling estimation amount acquisition control unit, coupled to the surface wobbling amount estimating unit and the rotation driving unit, to acquire a surface wobbling estimation amount for each rotation angle within one revolution of the optical disc by rotating the optical disc recording medium and performing an operation of estimating the surface wobbling amount using the surface wobbling amount estimating unit.