Abstract: A positioning apparatus includes a moving member, an actuator, and a controller. The moving member can move in at least a first direction. The actuator is provided along the first direction. The controller controls a current applied to the actuator in order to support the weight of the moving member. The bending rigidity of the moving member in the first direction is greater than the bending rigidity of the moving member in a second direction perpendicular to the first direction.

Abstract: A positioning apparatus includes a moving member, an actuator, and a controller. The moving member can move in at least a first direction. The actuator is provided along the first direction. The controller controls a current applied to the actuator in order to support the weight of the moving member. The bending rigidity of the moving member in the first direction is greater than the bending rigidity of the moving member in a second direction perpendicular to the first direction.

Abstract: The stage device of the present invention includes a linear motor having a coil and a plurality of permanent magnets, a current driver that supplies current to the coil, and a control section that generates a command for the current driver. The control section generates the command through commutation processing in which a sinusoidal wave using an electrical angle obtained by calculation based on the relative position between the coil and the permanent magnet is multiplied by a thrust force command value for the linear motor, and further ensures that a sinusoidal wave component, which has an amplitude proportional to a thrust force command value and is 90 degrees out of phase from the sinusoidal wave, is included in the command.

Abstract: At least one exemplary embodiment is directed to an alignment apparatus which includes a moving member, a structural object arranged on the moving member, and an electromagnetic actuator which moves the structural object relative to the moving member. The electromagnetic actuator includes a plurality of linear motor units, which apply forces in the horizontal direction and the vertical direction to the structural object. The plurality of linear motor units apply, to the structural object, forces in the rotation direction about each of two axes orthogonal to each other in the horizontal plane and the rotation direction about the axis in the vertical direction.

Abstract: At least one exemplary embodiment is directed to an alignment apparatus which includes a moving member, a structural object arranged on the moving member, and an electromagnetic actuator which moves the structural object relative to the moving member. The electromagnetic actuator includes a plurality of linear motor units, which apply forces in the horizontal direction and the vertical direction to the structural object. The plurality of linear motor units apply, to the structural object, forces in the rotation direction about each of two axes orthogonal to each other in the horizontal plane and the rotation direction about the axis in the vertical direction.

Abstract: A moving control apparatus comprising: a moving member provided movably at least in one direction; a driver having a movable element connected to the moving member and a stator to displace the movable element; a controller which energizes the driver to cause the movable element to generate a thrust; a position detector which detects a relative position between the movable element and the stator in the driver; a measurement unit which drives the movable element of the driver and measures an induced voltage generated in the driver; and a correction calculator which calculates a thrust ripple correction value to correct a thrust ripple as a variation of a thrust generated in the driver from the measured induced voltage and the relative position in the driver, and multiplies a command to the driver by the correction value.

Abstract: A moving member mechanism includes an electromagnet having a coil for driving a moving member, a first control mechanism which has an input portion which receives command information and an amplifier which supplies a current to the coil, and an offset compensation mechanism which includes a first integrator which time-integrates a signal at an input portion of the amplifier. The offset compensation mechanism is configured to negatively feed back an output from the first integrator to the input portion of the first control mechanism.

Abstract: A positioning apparatus includes a moving member, an actuator, and a controller. The moving member can move in at least a first direction. The actuator is provided along the first direction. The controller controls a current applied to the actuator in order to support the weight of the moving member. The bending rigidity of the moving member in the first direction is greater than the bending rigidity of the moving member in a second direction perpendicular to the first direction.

Abstract: A moving control apparatus comprising: a moving member provided movably at least in one direction; a driver having a movable element connected to the moving member and a stator to displace the movable element; a controller which energizes the driver to cause the movable element to generate a thrust; a position detector which detects a relative position between the movable element and the stator in the driver; a measurement unit which drives the movable element of the driver and measures an induced voltage generated in the driver; and a correction calculator which calculates a thrust ripple correction value to correct a thrust ripple as a variation of a thrust generated in the driver from the measured induced voltage and the relative position in the driver, and multiplies a command to the driver by the correction value.

Abstract: A positioning apparatus including a movable member having a plurality of magnets, and a plurality of coils arranged in X- and Y-axial directions, for displacing the movable member in the X- and Y-axial directions, and in a rotational direction around the Z-axis.

Abstract: This invention relates to a moving member mechanism including an electromagnet having a coil for driving a moving member and an amplifier which supplies a current to the coil. The first control mechanism which feedback-controls the electromagnet on the basis of command information input to the input portion sets a current supplied from the amplifier to the coil to 0 when the command information represents 0.

Abstract: A positioning apparatus includes a base having a reference surface, a substage movable with respect to the base, a first actuator for moving the substage with respect to the base, a main stage movable with the substage with respect to the base, a member for transmitting a force between the main stage and the substage and a second actuator for positioning the main stage. When accelerating/decelerating the main stage, the substage is driven by using the first actuator to transmit a force from the substage to the main stage through the transmission member and when causing the main stage to move at a constant speed or to stop, the main stage is positioned by using the second actuator.

Abstract: A scan type exposure method and apparatus in which a projection optical system projects, at a projection station, a portion of a pattern of an original onto a region on a substrate, an original stage moves the original relative to the projection optical system in an original scanning direction, a first substrate stage moves the substrate relative to the projection optical system in a substrate scanning direction, a second substrate stage moves the substrate relative to the projection optical system in an optical axis direction of the projection optical system, a synchronism controller controls, in the projection of the original onto the substrate through the projection optical system, synchronism between the movement of the original stage in the original scanning direction and the movement of the first substrate stage in the substrate scanning direction, a measuring device measures a position of the surface of the substrate with respect to the optical axis direction at a measurement point spaced from the proj