Method and arrangement for performing teat related operations in a rotary milking system and rotary milking system

A method for performing teat related operations in a rotary milking system (11) comprising a rotating platform (13), a plurality of milking stalls (13a) arranged thereon, each of the milking stalls (13a) being provided with teat cups (15) and provided for housing a milking animal (17) during milking thereof;

• and at least one robot (19) having a capacity for performing operations with respect to teats of milking animals present in milking stalls of the rotary milking system within a first zone (C1), through which first zone (C1) the rotating platform passes once for each revolution the rotary platform rotates, during an operation condition when a capacity required for performing the operations with respect to the teats of the milking animals to be milked in the rotary milking system is higher than the capacity of said at least one robot, said at least one robot operatively connected to a control arrangement (29), the control arrangement controlling said at least one robot during the operation condition, the method comprising the steps of:
• using the control arrangement (29) to automatically estimate (32) the capacity required for performing the operations with respect to the teats of the milking animals to be milked in the rotary milking system;
• using the control arrangement (29) to automatically plan (34) a semi-automated teat related operation procedure based on the capacity of said at least one robot and the estimated required capacity, according to which planned semi-automated teat related operation procedure a first fraction of the operations with respect to the teats of the milking animals should be performed automatically, in the first zone, by said at least one robot, and a second fraction of the operations with respect to the teats of the milking animals should be performed manually in a second zone (C2) located adjacent to said first zone (C1);
• and
• using the at least one robot under control of the control arrangement, automatically performing (35) the operations with respect to the teats of the milking animals according to the planned semi-automated teat related operation procedure.