Here is my trip report for the trip planned in this post:
http://patrol4x4.co.za/viewtopic.php?f=58&t=5226#p58167
Sorry, it is a bit lengthy, but as mentioned it is hard to find information on the Richtersveld. I did it as a PDF's, doing such a long post is not cricket.

Cheers
P.S. Sorry for the overlapping pages.