Movable body apparatus, exposure apparatus, manufacturing method of flat panel display, device manufacturing method, and movable body drive method
First Claim
1. A movable body apparatus, comprising:
- a first movable body movable along a predetermined two-dimensional plane which includes a first direction and a second direction orthogonal to each other;
a second movable body movable synchronously with the first movable body along the first direction;
a first measurement system, including a first encoder system that has one of a scale and a head disposed at the first movable body and the other of the scale and the head disposed at the second movable body, the first measurement system acquiring position information of the first movable body at least in the second direction on the basis of output of the head;
a second measurement system that acquires position information of the second movable body in the first direction; and
a position control system that performs position control of the first movable body within the two-dimensional plane, on the basis of output of the first measurement system and the second measurement system.
1 Assignment
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Accused Products
Abstract
Provided is a substrate stage apparatus that is provided with: a substrate holder that can be moved in a plane including an X-axis and a Y-axis; a head unit that can be moved synchronously with the substrate holder along the Y-axis; an encoder system for measuring substrate position, the system including a scale disposed on the substrate holder, and heads disposed on the head unit, and acquiring the X-axis direction and the Y-axis direction position information of the substrate holder on the basis of the output of the heads; an encoder system for measuring head-unit position, the system acquiring the Y-axis direction position information of the head unit; and a position control system that controls the position of the substrate holder within the XY plane on the basis of the output of the encoder system for measuring substrate position and the encoder system for measuring head-unit position.
14 Citations
23 Claims
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1. A movable body apparatus, comprising:
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a first movable body movable along a predetermined two-dimensional plane which includes a first direction and a second direction orthogonal to each other; a second movable body movable synchronously with the first movable body along the first direction; a first measurement system, including a first encoder system that has one of a scale and a head disposed at the first movable body and the other of the scale and the head disposed at the second movable body, the first measurement system acquiring position information of the first movable body at least in the second direction on the basis of output of the head; a second measurement system that acquires position information of the second movable body in the first direction; and a position control system that performs position control of the first movable body within the two-dimensional plane, on the basis of output of the first measurement system and the second measurement system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A movable body apparatus, comprising:
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a first movable body movable in a first direction and a second direction that intersect each other; a second movable body movable in the first direction; a first measurement system, including a first measurement device that has one of a grating member and a head movable in the first direction disposed at the first movable body and the other of the grating member and the head disposed at the second movable body, the first measurement system acquiring position information of the first movable body in the second direction on the basis of output of the head; a second measurement system that acquires position information of the second movable body in the first direction; and a control system that performs position control of the first movable body in the first direction and the second direction, on the basis of the position information acquired by the first measurement system and the second measurement system. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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23. A movable body drive method in which a movable body is driven along a predetermined two-dimensional plane that includes a first direction and a second direction orthogonal to each other, comprising:
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driving a first movable body in the second direction, on the basis of output of an encoder system that has a head disposed at one of the first movable body and a second movable body placed facing the first movable body, and a scale disposed at the other of the first movable body and the second movable body; driving the first movable body in the first direction; driving the second movable body in the first direction synchronously with the first movable body when the first movable body moves in the first direction; and performing position control of the first movable body in the two-dimensional plane, on the basis of position information of the first movable body in the second direction acquired from the output of the encoder system and position information of the second movable body in the first direction.
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Specification