This work presents algorithms developed for controlling teleoperated bilateral robotics manipulator systems. In order to achieve this purpose, two stations are modeled: a master station, which is controlled by a human operator, and a slave station, which receives data from the master s sensors and attempts to reproduce its trajectory. To attain bilaterality, the external forces that act on the slave station are reflected in the master. The control routines contemplate optimal techniques such as Linear Quadratic Regulator and Kalman s Filter. The algorithms consider external disturbances, quantization effects, noises, and communication delays. Finally, simulations are implemented on MATLAB to validate the routines.