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I have done example programs prescribed in http://www.asterisk-java.org/development/tutorial.html successfully. Now I would like to register SIP client by passing their extension's credentials like extension ID, secret, domain and so on. How we can do these tasks by using Asterisk java? Or do we need another framework like SIP Client lib to establish connection between client and asterisk?

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You have to use sip.conf or asterisk realtime for that.

I highly recommend you read any book, for example ORelly's "Asterisk the future of telephony"

No, it is absolutely not possible to do authorization via java in current Asterisk.

If you mean you need a java UA, you can use iax-java library or any sip library for java.