In this paper, a class of controllable nonlinear stationary systems of ordinary differential equations with an account of external perturbations is studied. The control satisfies given restrictions, and there is a fixed delay in it. An algorithm to construct a control transferring a system from a certain initial state to an arbitrary neighborhood of the origin is proposed. The algorithm has both numerical and analytical stages and is easy to implement. A constructive sufficient Kalman-type condition of possibility of the transfer is derived. The algorithm efficiency is demonstrated by solving a robot manipulator controlling problem.