| 摘要 |
The present invention relates to distributed robot node 10; 40 for controlling a robot arm 4 of a milking robot, having at least one actuator connected to said robot node. The robot node comprises: communication means to communicate with a positioning device 3 to determine the position of the robot arm in relation to a teat of an animal to be milked, a communicating device 20 for receiving instructions regarding a desired position of the robot arm in relation to said teat, a processor 21; 41 for processing the instructions based on the position of the robot arm, and at least one output 24, 26 for controlling the movements of the robot arm by affecting the actuator to move said robot arm to the desired position, based on the processed instructions. The invention also relates to a control system and a milking robot. |
