Patent ID: 8281743

Claim:
A milking parlour, comprising: a robotic manipulation device; a milking stall provided on a platform moveable relative to the robotic manipulation device; and an electronic control system i) adapted to monitor a rate at which the robotic manipulation device attaches teat cups to teats of an animal positioned in the milking stall, and ii) adapted to vary a speed of rotation of the platform in dependence upon the monitored rate at which the robotic manipulation device attaches the teat cups to the teats of the animal, wherein, the stall comprises four teat cups, and the electronic control system: i) determines, based on a current speed of the platform, that the monitored rate at which the robotic manipulation device has attached some of the four teat cups is insufficient to attach all four of the teat cups to the animal before the animal moves out of reach of the robotic manipulation device, and ii) in response to the determination, and based on the monitored rate at which the robotic manipulation device has attached some of the four teat cups, the electronic control system reduces the speed of rotation of the platform to a non-zero value to provide sufficient time for the robotic manipulation device to attach all four of the teat cups to the animal before the animal moves out of reach of the robotic manipulation device.