The article provides the analysis and comparison of operation cyclograms of modern robotic milking systems of Lely, DeLaval и GEA Farm companies. Concepts, models and schemes for differentiated control of teat cups have been developed to ensure accurate compliance with the physiology of milking. The developed models will allow to reduce or avoid the delay between the attachment of teat cups, since the main disadvantage that affects the attachment time in existing automatic milking systems is the sequential attachment of teat cups. Using one of the proposed schemes and models will most fully stimulate the milking reflex and evenly milk all quarters of the udder. The studies of domestic and foreign authors on robotic milking and its analysis have been reviewed. As methods of the analysis, cyclograms of various robotic milking systems have been formulated. For the proposal of the concept geometric diagrams and models of control of the teat cups have been designed. There have been proposed and described five schemes of differentiated control of teat cups and seven control models two of which provide paired attachment and the rest – simultaneous attachment. The implementation of the proposed concept, models and control schemes of teat cups in a robotic manipulator with paired or simultaneous attachment will allow to normalize the duration of full cycles of pre-milking processing and attachment of teat cups, bringing them closer to physiologically acceptable values (not more than 60 seconds).