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ͶµÄÊÇInternational Journal of Advanced Robotic Systems£¬2¸öÔ²Żظ´Òâ¼û£¬2¸öÉó¸åÒâ¼û£¬µÚÒ»¸ö»¹ºÃ£¬²»Í´²»Ñ÷µÄÎÊÌ⣬Ӧ¸ÃÄܻش𣬵ڶþ¸öÉó¸åÒâ¼û£¬¿´×Å»ù±¾ÊDZ¯¾çµÄ½Ú×࣬»¹ÓбØÒª¸ÄÂ𣿠¸Ð¾õÃ÷ÏÔÊǵóÄѰ¡£¬¸÷λ´óÅ£Ö§ÕУ¬Ð»Ð»ÁË¡£ ±à¼¸øµÄ½áÂÛÊÇ ¡°Reviewers have now commented on your paper. You will see that they are advising that you revise your manuscript. If you are prepared to undertake the work required, I would be pleased to reconsider my decision. ¡± ¸Ð¾õÊǻظ´Ä£°æ£¬¸øÁË3¸öÔ ÐÞ¸ÄÆÚÏÞ£¬Ã»Ëµ´óÐÞСÐÞ£¬Ö»ÏÔʾÊÇ¡°Revise¡±¡£ µÚ¶þÉó¸åר¼ÒÒâ¼û£º Reviewer #2: The paper is technically sound. The acknowledgement of the work of others by references is acceptable. The organization and presentation of the manuscript is marginal to poor. The relevance and completeness of the work remain insufficient and must be improved. English style must be improved. Many typos, grammatical and structural errors are depicted. The paper must be proofread before its submission. The paper cannot be accepted in this form. The authors have to face the challenging concern of revisit the structure of the whole paper in terms of style, organization and presentation of the results. The style in which the material is presented is rough. The paper can be reappraised after major revision. Many redundant notations are depicted through the entire paper. Variables used in hated letters then in simple letters. A square of a vector term, with no prior definition to be given for such an operator, is used. A list of nomenclature is necessary to understand the notations. To justify the modelization introduced in section 3, references must be cited within the equation presentation (in particular, in sub-section 3.2). Notations used are very confusing, for example si refers to an independent variable then to sin(theta_i), x_hat in (19), (22) is unknown. The notations and formulation must be revisited entirely. Sign problem depicted in (27) (from Rc2 to Fxi2). Vectors are used in row form then column for the same amounts. It is completely rushed. RTiTi-1 is not defined explicitly in pp.5. The reader cannot trust the results given by (33) and (34). References must accompany properties introduced in section 4. Absolute value notation is used inappropriately with vector terms without any prior definition (in particular in (48), (49)). The presentation of the design is referring to vector terms using scalar operators. An introduction of these notations applied to vector forms with adapted definitions is required. Theorem in pp. 7 is badly posed/stated. It must be reorganized. Demonstration of the proposed Theorem may work for scalar case, but, it is not straightforward for vector case. The whole proof must be revisited to use a formulation adapted to vector terms.The whole presentation of the paper is marginal. Comparison and improvement of the results in terms of error performance is less significant (very small). ÌáÁËÒ»´ó¶Ñ ¸ñʽÉϵÄÎÊÌ⣬ÓÈÆäÊǾØÕóºÍʸÁ¿·½ÃæµÄ£¬ÕâЩƽʱÔÚдÂÛÎĹý³ÌÖÐÆäʵ¶¼Ã»ÓÐÌ«ÔÚÒ⣬¸ÄÆðÀ´ÕæÃþ²»µ½Í·ÄÔ¡£¿´ÆðÀ´ÊÇÒªÇóͨƪÐ޸ģ¬ÕæÊÇÓôÃÆ£¬Òª»¨ºÃ¶à¾«Á¦ÁË£¬ÁíÓм¸¸öÎÊÌâ¿´²»¶®£º 1¡£¡° A square of a vector term, with no prior definition to be given for such an operator, is used.¡± Õâ¾äʲôÒâ˼£¿ ʸÁ¿µÄƽ·½Ö®Ç°Ã»Óж¨ÒåºÃ£¿£¿ 2¡£¡°A list of nomenclature is necessary to understand the notations. ¡± Õâ¸öÊÇ˵ҪÓÐÒ»¸ö ÊõÓï ±íÂ𣿠ÊÇÔÚÎÄÕ¿ªÍ·Åª¸ö Ëõд±í£¬»¹ÊÇÔÚ ×îºó¼Ó¸ö ¸½Â¼ºÃ£¿ ֮ǰûŪ¹ýÕâ¸ö¡£ 3¡£¡°Absolute value notation is used inappropriately with vector terms without any prior definition¡± ÕâÀïÎÒ°ÑÎó²î eµÄ¾ø¶ÔÖµ·Ö¶Îº¯ÊýµÄÐÎʽ±íʾ£¬Èç¹ûe±íʾ¶à¸ö¹Ø½ÚµÄÎó²î£¬Ò²¾ÍÊÇʸÁ¿±íʾ£¬ÄÇËüµÄ¾ø¶ÔÖµÊDz»ÊÇÓ¦¸Ãÿ¸öÔªËØ±í´ï³öÀ´ÄØ£¿ 4¡£¡° An introduction of these notations applied to vector forms with adapted definitions is required¡± ºÍ¡°The whole proof must be revisited to use a formulation adapted to vector terms.¡± ʸÁ¿ÔËËã »¹Òª¶¨Ò壿 ²»´ó¶®Òª¶¨Òåʲô£¿ Õâ¸öÉó¸åר¼ÒÎÊÌâºÜ¶à£¬µ«ÊǶ¼Ã»ÓоßÌåÖ¸µ¼Ôõô¸Ä²Å·ûºÏËûµÄθ¿Ú£¬°¦ Óе㲻֪ÈçºÎÏÂÊÖ¡£×¥×¡±êÁ¿ÔËËãºÍʸÁ¿ÔËËãµÄд·¨ÉÏ£¬Õâ¸öÆ½Ê±ÕæÃ»ÔõôעÒ⣬Ҳ²»ÖªµÀÈçºÎÏÂÊÖ£¬¿´ÁËһЩÂÛÎÄ£¬¸Ð¾õ´ó¼Ò¶¼Ä£ÀâÁ½¿ÉµÄ¡£ 5¡£¡°Comparison and improvement of the results in terms of error performance is less significant (very small).¡± ×îºó˵ÎÒÁ½ÖÖ¿ØÖÆËã·¨µÄ±È½Ï½á¹û ÓÃÎó²îÐÔÄÜÀ´±í´ï²»ºÏÊÊ »¹ÊÇ˵ÒâÒå²»´ó£¿ »¹ÊÇ˵ÓÃÆäËû·½Ê½±í´ï£¿»¹ÊÇ ËµÐÔÄܱȽϽá¹û²»ÀíÏ룿ÆäʵÎҵĿØÖÆËã·¨Îó²îÊÇ ÎҵĶԱȿØÖÆËã·¨µÄÎå·ÖÖ®Ò»×óÓÒ£¬ÄѵÀÕâ¸ö»¹²»¹»ºÃ£¿ Õâ¸öÉó¸åר¼Ò¿´µÄºÜϸ£¬¼¸ºõ¶Ô¸ñʽÉÏÓнàñ±°¡£¬¸ñʽÉÏʵÔÚ²»ÖªµÀÕâ¸öÉó¸åר¼ÒµÄ¿ÚζÈçºÎ£¬Ò²²»ÍƼö±ê×¼¸ñʽ¸ø¸ö²Î¿¼£¬ÎÒŸÄÁËÒ²²»·ûËûθ¿Ú£¬°¦£¬Ö¸ÍûÕâÂÛÎıÏ񵀯£¬Ì«¾À½áÁË£¿ ´óÅ£Ãǰï°ï棬Ҫ²»Òª»Ø¸´ÄØ£¿»¹ÊǸÄÍ¶ÄØ£¿»òÕß´óÅ£¶ÔÕâÖÖ¸ñʽÉÏÓкõĽ¨ÒéÂ𣿠ÕâÀïÏÈл¹ýÁË¡£ ÁíÍâÕâ¸ö´óÐÞ»ØÈ¥Ö®ºó£¬µÚ¶þÉó¸åÈËÊDz»ÊÇ»¹ÒªÖØÐÂÉóÒ»±é£¬ÓÖÒªÐÞ¸ÄÒ»´Î£¬Ê±¼äÒª±»Íϳ¤ÁË¡£¡£¡£ |
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