Method for controlling handheld gimbal, and handheld gimbal

A handheld gimbal, comprising:

• a handle, a gimbal, and a photographing device, wherein:
• the gimbal includes a gimbal base and a plurality of shaft joints, each of the plurality of shaft joints includes a motor and a shaft arm connected to and driven by the motor;
• the handle is connected to the gimbal base;
• and the photographing device is disposed on the gimbal;
• the gimbal also includes a memory and a processor;
• the memory is configured to store instructions;
• the processor is configured to execute the instructions to implement:
• upon rotation of the handheld gimbal, obtaining current attitude information of the photographing device and current attitude information of the handle;
• obtaining target attitude information of the photographing device according to the current attitude information of the photographing device and the current attitude information of the handle;
• and
• according to the current attitude information of the photographing device and the target attitude information, controlling a shaft joint of the handheld gimbal to rotate so that the attitude of the photographing device follows the attitude of the handle.

A non-transitory computer readable storage medium storing a computer program, the computer program, when being executed by a processor, causing the processor to implement:

• upon rotation of a handheld gimbal, obtaining current attitude information of a photographing device and current attitude information of a handle;
• obtaining target attitude information of the photographing device according to the current attitude information of the photographing device and the current attitude information of the handle;
• and
• according to the current attitude information of the photographing device and the target attitude information, controlling a shaft joint of the handheld gimbal to rotate so that the attitude of the photographing device follows the attitude of the handle.