CRADLE HEAD CONTROL METHOD, CRADLE HEAD, MOVABLE PLATFORM AND READABLE STORAGE MEDIUM

摘要

A cradle head (100) control method, a cradle head (100), a movable platform, and a readable storage medium (300). The control method comprises: obtaining a desired joint angular velocity of a cradle head (100) in a cradle head joint angular coordinate system (S10); according to the conversion relationship between the desired joint angular velocity, the cradle head joint angular coordinate system, and a cradle head body coordinate system, and the conversion relationship between the cradle head body coordinate system and a Euler coordinate system, converting the desired joint angular velocity into a desired Euler angular velocity (S20); according to the current state of the cradle head (100) and the desired Euler angular velocity, determining the desired state of the cradle head (100) (S30).