System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
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United States of America Patent
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Aug 12, 2014
Issued Date -
N/A
app pub date -
Apr 17, 2012
filing date -
Aug 31, 2010
priority date (Note) -
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Abstract
A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall. The controller is further operable to determine, based on a difference between the first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage to the desired linear position.
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