I am using the below JAVA code to capture the desktop of a remote machine
Robot robot = new Robot();
BufferedImage screenShot = robot.createScreenCap
We had similar problem in our project last year...we could find any stable and permanent solution....however here is how a work around worked for us...
We had to run on 5 remote desktops (which will take screens capture as well during failure) ..however as you have figured already if we disconnect session or minimise the RDC Window blank screenshot is captured. Therefore we had added one more VM to connect those other five test boxes. The task for that VM is to keep session active and resized to other 5 boxes...this worked for us.