The Silsoe Automatic Milking System consists of a novel high speed pneumatic robot and associated hardware, software systems and dairy parlour equipment. The system will allow voluntary attendance by cows over 24 hours with minimal human supervision. The control software for the robot and end-effector has to guide the teat cup onto an unpredictable, moving target and cope with different cows, udders and teat sizes. The pneumatic actuators are compliant and not likely to damage the cow. Mechanical contact sensors pressed onto the cow by air springs monitor the position of the cow when in the milking stall. This information is combined with signals from position sensors in the end effector to guide the robot. The present robot has been used on several extended trials including voluntary milking. This chapter addresses system design, control problems associated with the pneumatic milking robot and discusses some milking trial results.

Inspec keywords: dairy products; sensors; springs (mechanical); end effectors; pneumatic actuators; mechanical contact; production engineering computing; position control; control engineering computing; industrial manipulators; beverage industry

Other keywords: pneumatic actuators; dairy parlour equipment; pneumatic robot; voluntary milking; position sensor; air springs; mechanical contact sensor; Silsoe automatic milking system; control software; end effector

Subjects: Control applications in food processing industries