You can enable a VNC server in the iDRAC see this whitepaper Accessing Remote Desktop using VNC on Dell PowerEdge Servers
With for instance VNC Viewer you would be able to access the idrac.
I did enable VNC server on almist all iDRACs. But whenever I try connect to them thru my iPad, I get "Error. Invalid address". Ok. I'll read the whitepaper and reply u back soon.