The large network time-delay in the WAN environment degrades the performance of the tele-operated construction robot system, and even make the system unstable. To solve this problem, a neural network control method was proposed. With the help of WAN emulator, the experimental researches of position step response and steady state tracking under variable network time-delay were conducted in the LAN environment. The experimental results show that the proposed method has better dynamic and steady state characteristics and has better adaptability and robustness to the network time delay, compared with the conventional PID control method. The research result has guiding significance for improving the performance of tele-operated construction robot system in the WAN environment.