A milking robot system for milking a dairy animal in a milking session, and comprising: - teat cups, - a robot arm (4, 5) with actuators (7, 8), for connecting the teat cups to teats of the dairy animal, - a control device, which is configured to reach and/or maintain a desired position of the robot arm, by adjustment of a respective adjusting force parameter exerted by the actuators, wherein the control device is further configured to adjust a selectable compliance of the robot arm, or at least of at least one of the actuators of the robot arm, wherein the compliance is a reaction of the robot arm, or at least of said at least one actuator, to an external force parameter (W; FPe) which is exerted on the robot arm, or at least on said at least one actuator, characterized in that the compliance is a function of the external force parameter, wherein the control system comprises a counting device for counting during said milking session the number of times that an adjusting force parameter (F1, F1', F2, F2'; FPi) of at least a predefined threshold magnitude was set by the control system, in particular the number of times that the external force parameter was too large to reach or maintain the desired position, and/or the number of times that an attempt to connect one of the teat cups to the dairy animal by the robot arm failed, and wherein the control system is configured to select the compliance in dependence on the counted number. and/or characterized in that the compliance is a function of an identity of the dairy animal, the milking robot system further comprising an animal identification system for determining said identity of the dairy animal to be milked, wherein the control system is configured to select the compliance in dependence on the determined identity. - teat cups, - a robot arm (4, 5) with actuators (7, 8), for connecting the teat cups to teats of the dairy animal, - a control device, which is configured to reach and/or maintain a desired position of the robot arm, by adjustment of a respective adjusting force parameter exerted by the actuators, wherein the control device is further configured to adjust a selectable compliance of the robot arm, or at least of at least one of the actuators of the robot arm, wherein the compliance is a reaction of the robot arm, or at least of said at least one actuator, to an external force parameter (W; FPe) which is exerted on the robot arm, or at least on said at least one actuator, characterized in that the compliance is a function of the external force parameter, wherein the control system comprises a counting device for counting during said milking session the number of times that an adjusting force parameter (F1, F1', F2, F2'; FPi) of at least a predefined threshold magnitude was set by the control system, in particular the number of times that the external force parameter was too large to reach or maintain the desired position, and/or the number of times that an attempt to connect one of the teat cups to the dairy animal by the robot arm failed, and wherein the control system is configured to select the compliance in dependence on the counted number. and/or characterized in that the compliance is a function of an identity of the dairy animal, the milking robot system further comprising an animal identification system for determining said identity of the dairy animal to be milked, wherein the control system is configured to select the compliance in dependence on the determined identity.