Ah, okay the clarification definetly helps. I do not believe there is any other way to send your command over to the server without using another piece of software however depending on the server type itself, you can set up something to listen for you and you can then write to that program ( via TCP connection ) something like you would regularly on your local machine- "perl <filename>" and if you can set up server A to run a system command of the collected data from the socket, it will send "perl <filename> to its local command line.
It would be important to note what kind of servers they are? Also it would make things a lot easier if they were made out of perl hehe.
Best of luck though, - Rudolf