By Topic

Development of an autonomous cow-milking robot control system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
C. Klomp ; Dept. of Electr. Eng., Delft Univ. of Technol., Netherlands ; W. Jongkind ; G. Honderd ; J. Dessing
more authors

The development of overall control for a robot system that is used to milk cows at the cow's own demand (without intervention by the farmer) is described. The focus is on design of the inner- and outer-loop control of the robot arm developed especially for this system. The strategy for connecting the milking cups to the cow (consisting of an approach mode, capture mode and locking mode) is highlighted. The position of the teats of the cow is measured with a specially designed ultrasonic sensor system. The kinematic and dynamic models of the robot arm have been derived for simulation purposes with the aid of experimental data. In an initial experimental implementation with live cows, the system performed well, and the complete system is currently undergoing practical tests. The first results of the tests have proved that it is feasible to milk cows autonomously.<>

Published in:

IEEE Control Systems Magazine  (Volume:10 ,  Issue: 6 )