A system that includes a robotic arm, a laser, a three-dimensional (3D) camera, and a processor. The processor is configured to send instructions to position the robotic arm adjacent to a dairy livestock, to send a signal that initiates scanning a portion of the dairy livestock, and to generate teat candidate position information based on the scan of the dairy livestock. The processor is further configured receive target teat information, identify a teat candidate within a teat location range of the target teat, and link the identified teat candidate with a teat identifier. The processor is further configured to send instructions to the robotic arm to move at least a portion of the robotic arm toward the target teat based on the teat candidate position information for the identified teat candidate that is linked with the teat identifier.