The article considers various approaches to constructing systems of bilateral control of robots with a time delay in the transmission of a control signal. Their comparative analysis is given and an alternative two-level method of implementing management is proposed. The proposed method removes time-lag limits and ensures operability at a variable time delay. It is also allowed nondeterminativeness of the external environment. Management is implemented on two levels. The first level is the level of training required actions. The second level is the level of performance of these actions by a real robot. The efficiency of the proposed approach is demonstrated, which takes place with good transparency of the learning process and its stability, and also the stability of the process by which the real robot realizes the actions that it has been trained.