Patent ID: 9069336
Filing Date: 2015-06-30
Classification: G03F,G05B

Abstract:
1. A method, comprising: receiving, from at least six sensors associated with a 6-degree-of-freedom stage, displacement information associated with movement of the 6-degree-of-freedom stage; determining, by a control unit and based on the displacement information, a plurality of equations associated with the at least six sensors to represent an amount of change in position and attitude associated with each measurement axis of each of the at least six sensors; determining, by the control unit, position information (X, Y, Z) and attitude information (Tx, Ty, Tz) associated with the 6-degree-of-freedom stage using the equations; and causing, at least in part, the movement of the 6-degree-of-freedom stage to be controlled based on the position information (X, Y, Z), the attitude information (Tx, Ty, Tz), or both the position information (X, Y, Z) and the attitude information (Tx, Ty, Tz), wherein three coordinate values associated with each valid measurement point of each of the at least six sensors are associated with at least one degree of freedom, wherein the plurality of equations respectively corresponding to the at least six sensors are determined using the following six expressions: wherein: and wherein valid measurement points associated with the at least six sensors are P1(X1a, X1 b, X1 c) for a first sensor of the at least six sensors, P2(X2a, X2b, X2c) for a second sensor of the at least six sensors, P3(Ya, Yb, Yc) for a third sensor of the at least six sensors, P4(Z4a, Z4b, Z4c) for a fourth sensor of the at least six sensors, P5(Z5a, Z5b, Z5c) for a fifth sensor of the at least six sensors, and P6(Z6a, Z6b, Z6c) for a sixth sensor of the at least six sensors.