Food Packaging and commissioning today is mostly done manually. That is due to the fact that style and sizes of packagages is often changed. A robot is used in order to automize the handling processe. This gives a possibility of high flexibility in handling operations and constant output. The collaborative task is here that the operator can interfear fast if something in the process is going wrong. This can happen often, because the tollerances of packages in the box are high. The customer wants to reduce labour for monotous tasks. He hardly can find motivated labour for this task.