Cradle head control method and device, cradle head and storage medium
A control method and PTZ technology, applied in the control field, can solve problems such as difficulty in achieving accurate attitude control, affecting the stability of PTZ control, and achieve the effects of ensuring stability, improving practicability, and expanding scope.
Pending Publication Date: 2021-01-26
SZ DJI TECH CO LTD
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Problems solved by technology
[0004] The invention provides a pan-tilt control method, device, pan-tilt and storage medium, which are used to solve the problem in the prior art that the stability of the pan-tilt control is affected by the neighborhood of the singular point, and it is difficult to achieve accurate attitude control
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[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to li...
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A cradle head control method and device, a cradle head and a storage medium, the cradle head at least comprising a first support (101), a second support (102) and a third support (103) used for connecting a load, which are connected in sequence. The cradle head control method comprises: detecting whether the cradle head is located in a preset singular point neighborhood (S1); when the cradle headis located in the the singular point neighborhood, obtaining a target end attitude of the cradle head and measuring the end attitude (S2); calculating a single-axis control component and a dual-axis control component according to the target end attitude and the measured end attitude, the single-axis control component relating to the first support, and the dual-axis control component relating to the second support and the third support (S3); and controlling the first support according to the single-axis control component, and controlling the second support and the third support according to thedual-axis control component (S4).
Description
technical field [0001] The invention relates to the control field, in particular to a cloud platform control method, device, platform and storage medium. Background technique [0002] In physics, a point that exists and does not exist is called a singularity (or singularity). In the field of mechanics, a singular point can refer to the loss of a degree of freedom at the end of a certain direction when the manipulator is in a certain combination of joint positions. [0003] At present, when the gimbal is at the singular point and its neighborhood, because the Jacobian matrix corresponding to the gimbal is singular or close to singular, then through the Jacobian inverse matrix, the velocity measured by the end inertial measurement module is mapped to the joint angle space The angular velocity and its noise will be very large, which will affect the stability of the gimbal control, making it difficult to achieve accurate attitude control. Contents of the invention [0004] T...
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Login to View More IPC IPC(8): G05D1/08
CPCG05D1/08F16M13/04G05D3/12F16M11/16
Inventor 卢国政
Owner SZ DJI TECH CO LTD