Movable body drive method and movable body drive system, pattern formation method and apparatus, exposure method and apparatus, and device manufacturing method for continuous position measurement of movable body before and after switching between sensor heads
First Claim
1. A movable body drive method in which a movable body is driven substantially along a two-dimensional plane, the method comprising:
- a first process comprising;
measuring a position in a direction perpendicular to the two-dimensional plane and a tilt with respect to the two-dimensional plane of the movable body using a detection device that has a plurality of detection positions and has a plurality of sensor heads which detect, at each of the detection positions, positional information of a surface of the movable body substantially parallel to the two-dimensional plane, in the direction perpendicular to the two-dimensional plane with a reference plane parallel to the two-dimensional plane serving as a reference; and
a second process comprising;
switching a first set of sensor heads used to control the position and attitude of the movable body to another set of sensor heads which include at least one sensor head different from the first set of sensor heads so that the position in the direction perpendicular to the two-dimensional plane and the tilt with respect to the two-dimensional plane of the movable body are continuous before and after the switching;
specifying a second set of sensor heads used to control the position and the attitude of the movable body based on positional information of the movable body in the two-dimensional plane;
when the second set of sensor heads does not match the first set of sensor heads currently used to control the position and the attitude of the movable body, determining a measurement value of a specific sensor head, of a plurality of sensor heads belonging to the second set of sensor heads, that is currently not used to control the position and the attitude of the movable body based on the position and the attitude of the movable body; and
correcting an actual measurement value of the specific sensor head based on the determined measurement value so that the position and the attitude of the movable body match before and after the switching.
1 Assignment
0 Petitions
Accused Products
Abstract
A controller uses two Z heads, which are positioned above a reflection surface installed on the ±X ends of the upper surface of a table, to measure the height and tilt of the table. According to the XY position of the table, the Z heads to be used are switched from ZsR and ZsL to ZsR′ and ZsL. On the switching of the heads, the controller applies a coordinate linkage method to set an initial value of the Z heads which are to be newly used. Accordingly, although the Z heads to be used are sequentially switched according to the XY position of the table, measurement results of the height and the tilt of the table are stored before and after the switching, and it becomes possible to drive the table with high precision.
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Citations
19 Claims
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1. A movable body drive method in which a movable body is driven substantially along a two-dimensional plane, the method comprising:
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a first process comprising;
measuring a position in a direction perpendicular to the two-dimensional plane and a tilt with respect to the two-dimensional plane of the movable body using a detection device that has a plurality of detection positions and has a plurality of sensor heads which detect, at each of the detection positions, positional information of a surface of the movable body substantially parallel to the two-dimensional plane, in the direction perpendicular to the two-dimensional plane with a reference plane parallel to the two-dimensional plane serving as a reference; anda second process comprising; switching a first set of sensor heads used to control the position and attitude of the movable body to another set of sensor heads which include at least one sensor head different from the first set of sensor heads so that the position in the direction perpendicular to the two-dimensional plane and the tilt with respect to the two-dimensional plane of the movable body are continuous before and after the switching; specifying a second set of sensor heads used to control the position and the attitude of the movable body based on positional information of the movable body in the two-dimensional plane; when the second set of sensor heads does not match the first set of sensor heads currently used to control the position and the attitude of the movable body, determining a measurement value of a specific sensor head, of a plurality of sensor heads belonging to the second set of sensor heads, that is currently not used to control the position and the attitude of the movable body based on the position and the attitude of the movable body; and correcting an actual measurement value of the specific sensor head based on the determined measurement value so that the position and the attitude of the movable body match before and after the switching. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A movable body drive system in which a movable body is driven substantially along a two-dimensional plane, the system comprising:
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a detection device that has a plurality of detection positions, and has a plurality of sensor heads which detect, at each of the detection positions, positional information of a surface of the movable body substantially parallel to the two-dimensional plane, in a direction perpendicular to the two-dimensional plane with a reference plane parallel to the two-dimensional plane serving as a reference; and a controller which measures a position in the direction perpendicular to the two-dimensional plane and a tilt with respect to the two-dimensional plane of the movable body, based on the output of the plurality of sensor heads of the detection device, and also switches a first set of sensor heads used to control the position and attitude of the movable body from the first set of sensor heads to another set of sensor heads including at least one different sensor head from the first set of sensor heads so that the position in the direction perpendicular to the two-dimensional plane and the tilt with respect to the two-dimensional plane of the movable body become successive before and after the switching, during the movement of the movable body, wherein the controller specifies a second set of sensor heads used to control the position and the attitude of the movable body based on positional information of the movable body in the two-dimensional plane, and in the case when the second set of sensor heads does not match the first set of sensor heads currently used to control the position and the attitude of the movable body, determines a measurement value of a specific sensor head, of a plurality of sensor heads belonging to the second set of sensor heads, that is currently not used to control the position and the attitude of the movable body, based on the position and the attitude of the movable body, and corrects an actual measurement value of the specific sensor head based on the determined measurement value so that the position and the attitude of the movable body match before and after the switching. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification