Getting directly the current iframe's URL, in javascript, is not possible due to security restriction
If you mean cross-domain IFrames, and you have no way of controlling the inlying page, then this is correct.
As far as I know, no, there is no way to get around this.
The only way I can think of - and you don't want to go down that road - is proxying every page inside the iframe through a local server script, rewriting every link and action within each page to go through the proxy, too. But that is hugely difficult, comes with a shitload of things to be aware of, and is not a real option - many modern sites will simply break if proxied that way.