Hi @jvmiller
First of all, welcome to the Forum!
There are a number of different interfaces available from the robot that can be implmented to fit your needs. A summary of these can be found in this post about communication interfaces. You can communicate with these interfaces over a network, or implement themn through a URCap. Some sample implementations for the various interfaces are available on the URCap samples topic, where you should be able to see samples written by @jbm and various members of the community.
Regarding your specific need for sending URScript, this can be done through the secondary client interface, again sample implementations are available as part of a URCap, or can be implemented by some other desktop application, and the dashboard server can be used to start/stop/load programs remotely. Hopefully this will give you a starting point for your project.
Sam.