There’s probably some other more sophisticated methods, but if you can connect to the robot via ethernet, then using a VNC is really easy and fast to setup.
Here’s a link to the magic file. Just follow the readme, but essentially you just put the file on a flashdrive and put it into the controller. Then reboot the robot.
Then download a VNC viewer. (I use this one: https://www.realvnc.com/en/connect/download/viewer/) Type in the IP address of the robot into the VNC viewer and you can control the robot live from your computer.