If you want to browse the web on command line, you can use text-interface browsers such as
Links or
Lynx. I don't know if there is a way to "remote-control" the graphical browsers you mentioned, unless some of them provide means for that themselves--I doubt that. Besides, why would you want to control a graphical browser from within a text console, if there are text-based alternatives available?
Also, have a look at
Wget, in case you need to retrieve some web content (without necessarily
browsing yourself for it).
