Frequency of update and sampling rates are the main parameters affecting the accuracy of the manipulator motion. In general, increasing the frequency of update and the sensor readings results in smaller error patterns. There is no formal or closed form solution to determine the optimal value for the frequency of update that gives a specified maximum allowable error. The only practical way is to use simulation programs and change the value for both frequencies until the desired behavior is obtained. The constraint in this case is the maximum speed of the machine used and the maximum speed for the interface between the robot and the actuators and sensors.