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You would use an Authenticator if you were getting an HTTP authentication-required response from the server. But that's not what you described in your scenario.
First you have to send the same request which the signon page sends. It's probably a POST request, for example. Once you get a response, then you have to send the request for the URL which you want. Don't forget to help the server preserve its session, it will probably send cookies which you have to send back.
You can use the Apache HttpClient to do all that if you don't want to learn a whole lot about the intricacies of the HTTP protocol.