In this paper, a class of controllable nonlinear stationary systems of ordinary differential equations with account of external perturbations is studied. The control function has a delay and is norm-bounded. A control transferring the system from a given initial state to an arbitrary neighborhood of the origin is constructed. The algorithm has both numerical and analytical stages and is easy to implement. A Kalman-type constructive sufficient condition under which the transfer is possible is presented. The algorithm efficiency is demonstrated with solving a robot-manipulator control problem.