A two-degree-of- freedom rotation control device, comprising: a rotating body having a friction spherical surface, wherein a load mounting platform is provided on a top of the rotating body or inside the rotating body; a fixing and supporting structure configured to hold the rotating body, to allow the rotating body to have only a rotational degree of freedom; and a driving motor, wherein a driving end of the driving motor is in direct contact with the friction spherical surface of the rotating body, to form a friction transmission pair tangent to the friction spherical surface; and wherein the fixing and supporting structure comprises: a base having a spherical concaved seat for accommodating the rotating body; a lower support member provided at a bottom of a spherical space of the spherical concaved seat, and configured to support the rotating body to allow the rotating body to have a rotational degree of freedom; characterized in that the fixing and supporting apparatus further comprises an upper pressing block arranged on a top of the spherical concaved seat, and configured to hold the rotating body on the lower support member; and wherein the spherical concaved seat is in a shape of an upwardly-opened hollow hemisphere, an outer side of the spherical concaved seat has a local plane surface, and grooves are opened in the local plane surface to form driving motor mounting positions for mounting the driving motor, and a special shaped pillar is formed between the adjacent grooves, and the upper pressing block is mounted at a top of the special shaped pillar. a rotating body having a friction spherical surface, wherein a load mounting platform is provided on a top of the rotating body or inside the rotating body; a fixing and supporting structure configured to hold the rotating body, to allow the rotating body to have only a rotational degree of freedom; and a driving motor, wherein a driving end of the driving motor is in direct contact with the friction spherical surface of the rotating body, to form a friction transmission pair tangent to the friction spherical surface; and wherein the fixing and supporting structure comprises: a base having a spherical concaved seat for accommodating the rotating body; a lower support member provided at a bottom of a spherical space of the spherical concaved seat, and configured to support the rotating body to allow the rotating body to have a rotational degree of freedom; characterized in that the fixing and supporting apparatus further comprises an upper pressing block arranged on a top of the spherical concaved seat, and configured to hold the rotating body on the lower support member; and wherein the spherical concaved seat is in a shape of an upwardly-opened hollow hemisphere, an outer side of the spherical concaved seat has a local plane surface, and grooves are opened in the local plane surface to form driving motor mounting positions for mounting the driving motor, and a special shaped pillar is formed between the adjacent grooves, and the upper pressing block is mounted at a top of the special shaped pillar. a base having a spherical concaved seat for accommodating the rotating body; a lower support member provided at a bottom of a spherical space of the spherical concaved seat, and configured to support the rotating body to allow the rotating body to have a rotational degree of freedom; characterized in that the fixing and supporting apparatus further comprises an upper pressing block arranged on a top of the spherical concaved seat, and configured to hold the rotating body on the lower support member; and wherein the spherical concaved seat is in a shape of an upwardly-opened hollow hemisphere, an outer side of the spherical concaved seat has a local plane surface, and grooves are opened in the local plane surface to form driving motor mounting positions for mounting the driving motor, and a special shaped pillar is formed between the adjacent grooves, and the upper pressing block is mounted at a top of the special shaped pillar.