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During the study, the authors have solved the problems associated with the kinematics of a manipulator intended for the automatic care of cattle. The working unit of the manipulator is a system positioning all four milking cups in the individual location of the udder teats. A significant advantage of this manipulator kinematics is the ability to simultaneously connect milking cups to the teats of a cow’s udder to provide physiologically more correct milking and reduce the total milking time.

Kinematic model of a cow milking manipulator with simultaneous positioning at four given points