In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.