The sensitivity of millimeter-wave (mmWave) radio channel to blockage is a fundamental challenge in achieving low-latency and ultra-reliable connectivity. In this paper, we explore the viability of using coordinated multi-point (CoMP) transmission for a delay bounded and reliable mmWave communication. We propose a novel blockage-aware algorithm for the sum-power minimization problem under the user-specific latency requirements in a dynamic mobile access network. We use the Lyapunov optimization framework, and provide a dynamic control algorithm, which efficiently transforms a time-average stochastic problem into a sequence of deterministic subproblems. A robust beamformer design is then proposed by exploiting the queue backlogs and channel information, that efficiently allocates the required radio and cooperation resources, and proactively leverages the multi-antenna spatial diversity according to the instantaneous needs of the users. Further, to adapt to the uncertainties of the mmWave channel, we consider a pessimistic estimate of the rates over link blockage combinations and an adaptive selection of the CoMP serving set from the available remote radio units (RRUs). Moreover, after the relaxation of coupled and non-convex constraints via the Fractional Program (FP) techniques, a low-complexity closed-form iterative algorithm is provided by solving a system of Karush-Kuhn-Tucker (KKT) optimality conditions. The simulation results manifest that, in the presence of random blockages, the proposed methods outperform the baseline scenarios and provide power-efficient, high-reliable, and low-latency mmWave communication.