METHOD AND ROBOT MILKING DEVICE FOR MILKING A DAIRY ANIMAL
A robot milking device (1) comprises a milking site (3), an animal identification device (7), robot milking means (5), a feeding device (6) for providing feed to said dairy animal during said milking based on a feed allowance, and a controller (10) for the robot milking system and for updating the feed allowance. The method comprises: selecting a future time period, determining a free capacity C of the robot milking system, determining a sub-group of the dairy animals for which the controller may continue to provide feed after said milking, milking and feeding the dairy animals which visit the milking system, and additionally feeding a dairy animal from the sub-group depending on the determined free capacity C, if said dairy animal still has a feed allowance after milking. By not additionally feeding the selected dairy animals in all cases but depending on the free capacity, additional feed is given only if the robot does not immediately have to milk a following dairy animal, which reduces milking capacity less.