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Design of automatic milking system for use in pasture-based systems

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Keywords
automatic milking system, teat identification, teat location, robotic applicator
Date
2007-01-01
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AGRIP End of Project Reports
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EOPR 5238.pdf
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http://hdl.handle.net/11019/1330
Citation
O'Callaghan, E., White, J., Hunt-Duffy, A., Corcoran, B., Esmonde, H. Design of automatic milking system for use in pasture-based systems, End of Teagasc Reports, Teagasc, 2007.
Abstract
A commercial vision system was successful in identifying target artificial teats in various and demanding scenarios, but the system is very prone to making false identifications. A robotic manipulator capable of the simultaneous handling of four milking cups has been designed. The end-effector profile is sufficiently compact to allow access between the rear legs of the cow while enabling full access to all four teats for application of milking cups. The positioning response of the end-effecter is satisfactory for accommodating small changes in teat position during milking cup application.
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