Automated system for applying disinfectant to the teats of dairy livestock

A system for operating a robotic arm, comprising:

• a controller operable to receive an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform, and to determine whether a milking cluster is attached to the dairy livestock;
• the robotic arm communicatively coupled to the controller and operable to extend between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock, wherein the robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock;
• and
• a spray tool coupled to the robotic arm and operable to discharge a substance to at least some of the teats of the dairy livestock if the robotic arm is extended between the legs of the dairy livestock.