Milking system comprising a milking robot

A milking system (100), comprising:

• a plurality of milking cups configured for placement on teats of an animal (110) during milk extraction;
• a milking robot (150) with a robot arm (155) configured to attach each one of the milking cups to a respective teat of the teats of the animal;
• a sensor (160) configured to detect two adjacent said teats of the animal;
• and
• a control arrangement (170), communicatively connected to the sensor (160) and the robot arm (155),
• wherein the control arrangement (170) is configured to:
• determine a horizontal distance between the two adjacent teats, based on a measurement carried out by the sensor (160);
• if the horizontal distance is less than a predetermined horizontal distance threshold limit:
• determine a vertical distance between teat tips of the two adjacent teats based on the measurement carried out by the sensor;
• identify as an upper teat one of the two adjacent teats whose said teat tip is above the teat tip of the other adjacent teat;
• select the upper teat as a selected teat for attachment of a first of the plurality of milking cups;
• and
• generate a command to the robot arm (155) to commence attachment of the first milking cup to the selected teat by utilizing an outer part of the first milking cup to move a lower teat of the two adjacent teats while attaching the first milking cup to the upper teat, the lower teat being the other one of the two adjacent teats, thereby preventing the lower teat from entering a mouthpiece of the first milking cup.