HOFMAN, Henk,DE RUIJTER, Cor,KOEKOEK, Menno,VAN DER SLUIS, Peter, William
申请号：
EP20170196326
公开号：
EP3305069(A1)
申请日:
2012.04.26
申请国别(地区):
欧洲专利局
年份:
2018
代理人:
摘要：
In certain embodiments, 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 of the rotary milking platform. The controller is further operable to determine, based on a difference between the received 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 along the carriage track to the desired linear posi
