Vibration-preventive apparatus and exposure apparatus
First Claim
1. A vibration-preventive apparatus comprising:
- a vibration-preventive pedestal held horizontally through at least three vibration-preventive pads;
at least one stage movable on the vibration-preventive pedestal;
at least three actuators for moving the vibration-preventive pedestal in a vertical direction;
at least one displacement sensor for detecting displacement of the vibration-preventive pedestal;
at least one vibration sensor for detecting vibration of the vibration-preventive pedestal;
a vibration control system for controlling the respective actuators on the basis of outputs of the displacement sensor and the vibration sensor so that the vibration of the vibration-preventive pedestal is suppressed;
a position-measuring unit for measuring a position of the at least one stage; and
a vibration-compensating system for forecasting an amount of inclination of the vibration-preventive pedestal caused by movement of a position of a center of gravity during movement of the stage on the basis of an output of the position-measuring unit, and inputting a command value to correct the amount of inclination into the vibration control system in a feedforward manner.
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Accused Products
Abstract
A position of movement of a stage is measured by an interferometer when the stage placed on a vibration-preventive pedestal of an exposure apparatus is moved. An output of the interferometer is multiplied by K so as to correct an amount of inclination of the vibration-preventive pedestal caused by movement of a position of a center of gravity during the movement of the stage, and an obtained value is feedforward-inputted into a vibration control system of a control unit. The vibration control system controls actuators on the basis of outputs of a displacement sensor and a vibration sensor and the feedforward-inputted value so that vibration of the vibration-preventive pedestal is suppressed. A vibration-compensating system multiplies, by g, displacements θx, θy in a direction of inclination with respect to a horizontal plane obtained on the basis of outputs of three vertical displacement sensors. Obtained results are subtracted from outputs of horizontal acceleration sensors. Thus gravitational acceleration components can be removed from the outputs of the horizontal sensors. The suppressing effect on disturbance vibration can be improved without being affected by the movement of the position of the center of gravity of the main apparatus body associated with the movement of the stage.
97 Citations
25 Claims
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1. A vibration-preventive apparatus comprising:
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a vibration-preventive pedestal held horizontally through at least three vibration-preventive pads; at least one stage movable on the vibration-preventive pedestal; at least three actuators for moving the vibration-preventive pedestal in a vertical direction; at least one displacement sensor for detecting displacement of the vibration-preventive pedestal; at least one vibration sensor for detecting vibration of the vibration-preventive pedestal; a vibration control system for controlling the respective actuators on the basis of outputs of the displacement sensor and the vibration sensor so that the vibration of the vibration-preventive pedestal is suppressed; a position-measuring unit for measuring a position of the at least one stage; and a vibration-compensating system for forecasting an amount of inclination of the vibration-preventive pedestal caused by movement of a position of a center of gravity during movement of the stage on the basis of an output of the position-measuring unit, and inputting a command value to correct the amount of inclination into the vibration control system in a feedforward manner. - View Dependent Claims (2, 3, 4)
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5. In an exposure apparatus that forms a pattern onto a photosensitive substrate by projecting illuminating light through a projection optical system, a vibration control apparatus comprising:
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a vibration-preventive pedestal held horizontally through at least three vibration-preventive pads; a substrate stage, movable on the vibration-preventive pedestal, for holding the photosensitive substrate; at least three actuators for moving the vibration-preventive pedestal in a vertical direction; at least one displacement sensor for detecting displacement of the vibration-preventive pedestal; at least one vibration sensor for detecting vibration of the vibration-preventive pedestal; a vibration control system for controlling the respective actuators on the basis of outputs of the displacement sensor and the vibration sensor so that the vibration of the vibration-preventive pedestal is suppressed; a position-measuring unit for measuring a position of the substrate stage; and a vibration-compensating system for forecasting an amount of inclination of the vibration-preventive pedestal caused by movement of a position of a center of gravity during movement of the substrate stage on the basis of an output of the position-measuring unit, and inputting a command value to correct the amount of inclination into the vibration control system in a feedforward manner. - View Dependent Claims (6, 7, 8, 9)
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10. A vibration-preventive apparatus comprising:
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a vibration-preventive pedestal held horizontally through at least three vibration-preventive pads; at least three actuators for driving the vibration-preventive pedestal in a vertical direction at different positions; at least three vertical displacement sensors for detecting vertical displacement of the vibration-preventive pedestal at different points; a vibration sensor for detecting at least an acceleration of the vibration-preventive pedestal in a horizontal plane; a vibration control system for controlling the respective actuators on the basis of outputs of the displacement sensors and the vibration sensor so that vibration of the vibration-preventive pedestal is suppressed; and a vibration-compensating system for removing a gravitational acceleration component contained in a detected value obtained by the vibration sensor on the basis of displacement in a direction of inclination with respect to the horizontal plane obtained on the basis of the outputs of the three vertical displacement sensors. - View Dependent Claims (11, 12, 13, 14)
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15. In an exposure apparatus that forms a pattern onto a photosensitive substrate by projecting illuminating light through a projection optical system, a vibration control apparatus comprising:
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a vibration-preventive pedestal held horizontally through at least three vibration-preventive pads; at least one stage, movable on the vibration-preventive pedestal, for holding the photosensitive substrate; at least three actuators for driving the vibration-preventive pedestal in a vertical direction at different positions; at least three vertical displacement sensors for detecting vertical displacement of the vibration-preventive pedestal at different points; a vibration sensor for detecting at least an acceleration of the vibration-preventive pedestal in a horizontal plane; a vibration control system for controlling the respective actuators on the basis of outputs of the displacement sensors and the vibration sensor so that vibration of the vibration-preventive pedestal is suppressed; and a vibration-compensating system for removing a gravitational acceleration component contained in a detected value obtained by the vibration sensor on the basis of displacement in a direction of inclination with respect to the horizontal plane obtained on the basis of the outputs of the three vertical displacement sensors. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A method of compensating for vibrations in an apparatus having a pedestal, at least one movable stage movable on the pedestal, at least three actuators for vertically moving the pedestal, at least one displacement sensor for detecting displacement of the pedestal and at least one vibration sensor for detecting vibration of the pedestal, the method comprising:
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measuring a position of the at least one stage; forecasting an amount of inclination of the pedestal based on the position of the at least one stage; and controlling the actuators on the basis of outputs from the displacement sensor, the vibration sensor and the forecast amount of inclination to suppress vibration of the pedestal and to correct the amount of inclination in a feedforward manner. - View Dependent Claims (23)
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24. A method of compensating for vibrations in an apparatus having a pedestal, at least three actuators for vertically moving the pedestal, at least three vertical displacement sensors for detecting vertical displacement of the pedestal at different points, and at least one vibration sensor for detecting at least an acceleration of the pedestal in a horizontal plane, the method comprising:
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removing a gravitational acceleration component contained in a detected value obtained by the vibration sensor based on a direction of inclination of the pedestal with respect to the horizontal plane obtained from the output of the vertical displacement sensors; and controlling the actuators on the basis of outputs from the displacement sensor and the vibration sensor, with the gravitational acceleration component removed, to suppress vibration of the pedestal. - View Dependent Claims (25)
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Specification