| abstract |
An implement for milking an animal, e.g. a cow, which implement includes a robot arm (6) adapted to carry near its end one or more teat cups (45 to 48), and coupling means (50) for applying each teat cup to a relevant teat of the animal's udder. Furthermore, there are provided sensor means (51), with the aid of which the position of the teats can be determined, as well as control means (56, 18, 22, 36, 40, 80 to 83) for conveying, on the basis of a teat position as determined by the sensor means (51), the robot arm (6) in such a position under the animal's udder that a teat cup (45 to 48) can be applied to the relevant teat. The sensor means (51), which comprise a source of electromagnetic radiation, such as a laser, are arranged on a movable member (43) provided near and movably in respect of the robot arm end (34). |