A method and apparatus for the automated milking of dairy cattle employing
live capture of the teats of a dairy cow without requiring identification
of a particular dairy cow or the prior knowledge of the location of the
individual teats. The live capture milking apparatus locates the
individual teats of a dairy cow and attaches a teatcup to the teat
without the need for human intervention. After the milking operation is
completed, the live capture milking apparatus returns to a home position
where cleaning and sanitization the milking equipment occurs.