On Mon, 20 Oct 2008, productionplanning [..] ... wrote:

> I'm looking to control an ABB IRB 2400 robot. I am having difficulties at
> the moment and software packages are extremely expensive. Is there anyone
> with a similar robot that has any solutions?
>
The kinematics of that robot are very similar to the "321" kinematics for
which there are already worked-out examples in our OCL code, namely the
KUKA robots and the Staubli.

Herman

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