Mapping Robot Singularities through the Monte Carlo Method

Round 1

Reviewer 1 Report

The topic is relevant, especially today - the time of industrial and technological breakthroughs. When posing the problem in the introduction, it would be necessary to analyze the world experience in the design of robots in more depth, noting, among other things, additional references in the bibliography.

Author Response

We thank the reviewer for the positive evaluation of our work. We have corrected several minor errors in the manuscript, which are highlighted in color. We also expanded the introduction, where we more precisely described the advantages and disadvantages of our design solution. We have added a link to our previous article explaining the design solution. Our design solution is characterized by the main feature - modularity. With a large number of possible kinematics configurations, we ran into the problem of frequent singular states. This is what motivated us to look for ways to identify them and possible solutions.

Author Response File: Author Response.pdf

Reviewer 2 Report

The article brings a very interesting perspective on solving the problem of singularities in robotics. Overall, the text is of a good standard, I would only recommend these minor corrections:

1, there is a need to unify the format of citations,

2, as a link to the illustration of the KUKA robot, I would rather see a link to the manufacturer's website than to the website of a company that is only a distributor/integrator [29],

3, the reference to Matlab [27] is redundant in my opinion, it is a tool well known in the scientific and professional community,

4, it is necessary to go through the text and correct the links to the images, for example the link to image 9 on page 6 and page 10 are both wrong in my opinion.

Author Response

We thank the reviewer for the positive assessment of our work and for the valuable comments that lead to improvement and refinement. We have corrected several minor errors in the manuscript, which are highlighted in yellow. We also expanded the introduction, where we more precisely described the advantages and disadvantages of our design solution.

1/ We carefully reviewed the format of the citation and found several errors. We fixed those.

2/ We changed the link to the KUKA robot directly to the manufacturer.

3/ we deleted the reference to Matlab.

4/ Thank you for identifying the errors. We fixed those. All other links have been thoroughly checked and they are fine.

Author Response File: Author Response.pdf