Greetings,
If I understand your need, you have this robotic arm ABB 4600 at your place and would like me to program it so that it can stack objects 1 over another. I can see quite a few challenges in this - the first and foremost being - I will have to remotely program it and test it. Then there would be others related to the technicalities of it.
My expertise is with embedded systems, robotic platforms, control systems, algorithms - you can see my profile for details. This is an industrial robot and I don't have access or experience with it. However if you can share the programming manual and the technical datasheet of the robot - I can understand and program it.
Now it would be important that we figure out an optimum way to remotely manage this thing. So I look forward to a discussion with you.
T & R
Alok Pugalia