Industrial inspection system requires extreme accuracies in locating the target tube for inspection for efficient and error free operations. Proto type Fast Breeder Steam Generator system requires periodic tube inspection campaign as Pre-service Inspection (PSI) and In-service Inspection (ISI) for the safety of the systems and work with confidence without any failures. Tube joints to the tube sheet in the SG are vulnerable and need periodic inspections to avoid the breach of tubes that may cause the sodium in shell side to mix with water in the tube side leading to a violent exothermic reaction causing accidents. The research work involves the development of advanced kinematic algorithms for the Tube Locator Module (TLM) which is a two-axis robotic system to reach the tubes for inspection. Various errors lie the kinematic errors, process errors and the vision errors affect he accuracies which is dealt in a way to correct them in real time and run the inspection system with high order of accuracies. This presentation also covers the lost motion error correction through the kinematic algorithm used for the target position reach. Through vision metrics the errors on three widely spready calibration point holes (CPH) are estimated and through the SVD commutation the right body parameters computed for the real time correction. The talk also covers the implementation of the Augmented Reality (AR) for the tube numbering in real time video which gives the inspections system operator an immersive feeling during operation which causes error free inspection and also gives the operator the through knowledge about the tubes under inspection.