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What is the application or rather how complex is it and what function of the robot controller do you need?
In my application i only need to tell the robotic arm which pose it has to move to and retrieve status values for joints/currentPose/forceValue.
It is probably not a very good solution. At least it is a simple one;). I'm using a tcpConnections to my arm which sends Pose values and gets the status values. This would probably applicable to most other arms that support tcp sockets.
Btw, I’m using a Universal Robot. Unfortunately it's payload is limited to 5 kgs. However the price is definitely less 50k.
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