Yes, I did it for about 15 years. The normal thing is to become an employee of the agency offering the work or of a payroll company they recommend. They then play with the figures so that the gross fee due to the contractor is equal to the combined employer/employee contributions for pension and social welfare plus the 'net salary' salary paid to the contractor. Depending on which country is involved the agency may also be able to organise it so that living expenses and flights home can come off the gross fee resulting in a tax saving.
When it comes to the tax situation I can't really comment as it depends on the individual situation. But again the agency will be able to provide such advice or recommend a tax advisor who can help.
One of the major advantages of going this way is that you don't loose out on the social security side of it, when working in another EU state. At the end of the contract the contractor will be made reduntant and will qualifiy in the normal way or unemployment benefits either in the country where he was employed or back home in Ireland.
Jim