There is a growing demand for direct human-robot interaction without safety barriers, especially on mixed assembly lines for multiple product variants. However, the automation potential offered by small, cost-effective, lightweight robots is somewhat offset by the risk that they will be deployed without regard for human factors. If decisions are made solely on the basis of technological aspects, the performance of the human-robot system is likely to be suboptimal. Successful implementation thus depends significantly on the extent to which production employees are given a say in the planning and optimization process. This confronts SMEs with many different questions: What type of robot is best suited to which application, and how should it be configured? How much time and effort will it take to set up and program the system? How should the application be designed to ensure that it is accepted by the people who work with it, can be certified by the trade association, and yet still be cost-effective? The aim of the Rokoko research project is to develop and test methods and tools to support the safe use, cost-effective deployment, and general acceptance of robots in collaborative assembly environments. Three industrial users are participating in trials to find the best solution.