In robotics, pose errors are known as positional and rotational errors of a given mechanical system. Those errors are commonly produced by the play among joined components, commonly known as joint clearances. Predicting pose errors can be done via the formulation of two optimization models holding continuous domains, which belong to the NP-Hard class of problems. This paper focuses on providing rigorous and reliable solution to this problem by using constraint programing. (C) 2013 The Authors. Published by Elsevier B.V.