An optical recording/reproducing apparatus, medium, and method and a controlling apparatus, medium, and method thereof. The recording/reproducing apparatus includes an optical pickup actuator including a holder formed on a base, a blade connected to the holder with a plurality of elastic supporters, a pair of focus coils for operating the blade in a focus direction, track coils for operating the blade in a tracking direction, magnets, a memory for storing a lookup table for the height of the blade according to electric current, a lookup table for the tilt of the blade according to the electric current supplied to the focus coils, a lookup table for the actual tilt of an optical disk according to the height of the blade, and a controller for computing a tilt difference between the optical disk and the blade and controlling the electric currents supplied to the focus coils to compensate for the tilt difference.