Application is WinXX client/server for internet/intranet . Fast OpenGL graphics simulator, easy mouse control of manipulator position/orientation, camera position, zoom in/out, fast IK calculation ( no PA-library needed ), easy trajactory planner ( taking position with mouse/keyboard, picking points, intarpolation, velocity profile easy setup and preview, user friendly input interface and commands set, full remote control with security options over intranet/internet.
Full source code in Borland C++ Builder 5.0 with all libraries included. Price is 20,000 US$ ( Full source, license and author's rights ).
If you are interested, I can send you free trial executable ( everything is working except that you can not move the robot and there is small distance-error in interpolation which was made deliberately ). My e-mail is firstname.lastname@example.org.