A robotic surgical system comprising: a surgical tool; a manipulator comprising a base supporting a plurality of links and being configured to support the surgical tool; a navigation system comprising a tracker coupled to the surgical tool and a localizer being configured to monitor a state of the tracker; and a controller coupled to the manipulator and the navigation system and being configured to: acquire, from the manipulator, unfiltered kinematic measurement data relating to a state of the surgical tool relative to the base; acquire known relationship data relating to the state of the tracker relative to the surgical tool; acquire, from the navigation system, unfiltered navigation data relating to the state of the tracker relative to the localizer; combine the unfiltered kinematic measurement data, the known relationship data and the unfiltered navigation data to determine an unfiltered relationship between the base and the localizer; filter the unfiltered relationship according to a first filter length to produce a first filtered relationship between the base and the localizer for controlling the manipulator; filter the unfiltered relationship according to a second filter length being shorter than the first filter length to produce a second filtered relationship between the base and the localizer; and utilize the second filtered relationship, alone or by comparing the first filtered relationship to the second filtered relationship, to determine whether an error has occurred relating to at least one of the manipulator and the localizer. a surgical tool; a manipulator comprising a base supporting a plurality of links and being configured to support the surgical tool; a navigation system comprising a tracker coupled to the surgical tool and a localizer being configured to monitor a state of the tracker; and a controller coupled to the manipulator and the navigation system and being configured to: acquire, from the manipulator, unfiltered kinematic measurement data relating to a state of the surgical tool relative to the base; acquire known relationship data relating to the state of the tracker relative to the surgical tool; acquire, from the navigation system, unfiltered navigation data relating to the state of the tracker relative to the localizer; combine the unfiltered kinematic measurement data, the known relationship data and the unfiltered navigation data to determine an unfiltered relationship between the base and the localizer; filter the unfiltered relationship according to a first filter length to produce a first filtered relationship between the base and the localizer for controlling the manipulator; filter the unfiltered relationship according to a second filter length being shorter than the first filter length to produce a second filtered relationship between the base and the localizer; and utilize the second filtered relationship, alone or by comparing the first filtered relationship to the second filtered relationship, to determine whether an error has occurred relating to at least one of the manipulator and the localizer. acquire, from the manipulator, unfiltered kinematic measurement data relating to a state of the surgical tool relative to the base; acquire known relationship data relating to the state of the tracker relative to the surgical tool; acquire, from the navigation system, unfiltered navigation data relating to the state of the tracker relative to the localizer; combine the unfiltered kinematic measurement data, the known relationship data and the unfiltered navigation data to determine an unfiltered relationship between the base and the localizer; filter the unfiltered relationship according to a first filter length to produce a first filtered relationship between the base and the localizer for controlling the manipulator; filter the unfiltered relationship according to a second filter length being shorter than the first filter length to produce a second filtered relationship between the base and the localizer; and utilize the second filtered relationship, alone or by comparing the first filtered relationship to the second filtered relationship, to determine whether an error has occurred relating to at least one of the manipulator and the localizer.