Can I continuously read and store data from UDP?

Hello, I have a robot arm that is communicating with the computer through the UDP protocol. The communication is working, I am able to send some data (eg. the desired end effector position), and read data out (eg. actual end effector position). Now I would like to see if it is possible to continuously read and store the data from the robot, in the way that if I physically move the robot arm, I can then see all the intermediate positions from starting point to end point of the movement. Thanks!