Automated system for applying disinfectant to the teats of dairy livestock

A method for applying disinfectant to the teats of a dairy livestock, comprising:

• communicating a first signal to a first actuator coupled to a carriage carrying a robotic arm, the first signal causing operation of the first actuator such that the carriage moves along a track, wherein the track is adjacent to a stall of a rotary milking platform housing a dairy livestock, and the robotic arm comprises:
• a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage;
• a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member;
• and
• a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member;
• communicating a second signal to a second actuator coupled to the carriage and the first member, the second signal causing operation of the second actuator such that the first member rotates about the point of attachment to the carriage;
• communicating a third signal to a third actuator coupled to the first member and the second member, the third signal causing operation of the third actuator such that the second member rotates about the point of attachment to the first member;
• communicating a fourth signal to a fourth actuator coupled to the second member and the spray tool member, the fourth signal causing operation of the fourth actuator such that the spray tool member rotates about the point of attachment to the second member;
• and
• extending the robotic arm between the hind legs of the dairy livestock such that a spray tool of the spray tool member is located at a spray position from which the spray tool may discharge disinfectant to the teats of the dairy livestock.