I have seen this happen every 2-3 days on my machine. I believe it happens when switching around users - specially to my son's account, which doesn't have any permissions. It might be that his account doesn't have permission to copy/write files from the hard drive or to the backup drive, and then throws this error.
Whenever I've had it, I generally do a TM update manually (thru the menu bar, select "backup now"), and it has succeeded.
I have not been overly worried, since the subsequent backup has completed successfully.