I would try to build a criterion based on the singular values. See this Wikipedia article for starters. The singular values of a matrix $A$ are the square roots of the eigenvalues of $AA^T$. With your matrix $A$ we get
$$
AA^T=\left(\begin{array}{cc}2&1\\1&1\end{array}\right).
$$
The eigenvalues of this matrix are
$$\lambda_1^2=\frac{3+\sqrt{5}}2\qquad\text{and}\qquad \lambda_2^2=\frac{3-\sqrt{5}}2.$$
While $\lambda_2$ is clearly smaller than $\lambda_1$, it is not dangerously close to zero.
With your other matrix on the other hand we get
$$
BB^T=\left(\begin{array}{cc}2&1.999\\1.999&1.998001\end{array}\right).
$$
The smaller eigenvalue of this matrix is very close to zero (at least in comparison to the bigger one) - sorry I don't have a CAS on this laptop yet, so can't give you the approximate values :-)
Singular values work better than eigenvalues, because the characteristic polynomial of a matrix fails to distinguish between
$$
\left(\begin{array}{cc}1&100\\0&1\end{array}\right)\qquad\text{and}\qquad
\left(\begin{array}{cc}1&0\\0&1\end{array}\right).
$$
I don't have a definite criterion in mind. May be the Wikiarticle helps or somebody else can give a well studied solution.