A vision system (100) that includes a robotic arm (200) and a three-dimensional (3D) camera (136) operably coupled to a processor (102). The processor (102) is configured to acquire a 3D image (138) and identify a teat (203) of the dairy livestock (202) within the 3D image (138). The processor (102) is further configured to determine a distance between a portion of a robotic arm (200) and an approach vector for the teat, to compare the distance between the portion of the robotic arm (200) and the approach vector for the teat (203) and the attachment range threshold value, and to send instructions to the robotic arm (200) based on the comparison.