A driving apparatus which drives an object along a guide surface in X and Y directions.
The apparatus includes a first actuator which drives the object in the X direction,
a second actuator which drives the object in the Y direction, and a controller
which controls the first and second actuators. The first and second actuators each
have a reaction force counter which moves upon receipt of a reaction force generated
in driving the object. In moving the object standing at a first position to a second
position and stopping the object, the controller controls the first and second
actuators such that acceleration periods of the two coincide and deceleration periods
of the two coincide. Also, the object moves on a straight line connecting the first
position and the second position.
