The Wifi access has been problematic since the WiFi was closing inward connections all the time. I could connect to the robot but only if the robot first made a connection outwards using the same protocol, really weird. It seems it is my Netgear router that is the source of my troubles since when I use another router the problems went away.
|Robot with Pi running headless|
Now I can SSH to the Robot and start vncserver, after that I connect to the RPi using TightVNC Viewer. It feels a little bit sluggish compared to attaching screen and keyboard but its really quite ok. I can start Arduino IDE and program the Arduino board without any problems.
|Starting vncserver from SSH|
Here is a tutorial for those who needs it: http://www.raspberrypi.org/phpBB3/viewtopic.php?f=29&t=29497