Abstract: An arrangement for performing an animal-related action on an animal includes a position determining component having a detector and a processing unit for determining the position of an animal part to be subjected to the animal-related action, and a performance component such as an animal handling unit or milking robot for performing the animal-related action. The position determining component is located at a first location including a station for housing an animal and the performance component is located at a second location including a station for housing an animal at a distance from the first location. A signal line is provided for transferring the coordinates of the position determined at the first location to the performance component at the second location in order to enable the performance of the action with regard to the animal part.