The paper describes the possibilities of implementing cobots for the execution of manual tasks in human-cobot collaborative teams to reduce waste within manufacturing systems from the perspective of Industry 5.0. Particular attention is paid to those manufacturing systems where, due to the high costs of possible reorganization, cobots are implemented in the existing system without significant modifications. The work is carried out in collaboration between humans and machines. To illustrate proposed implementation model, a conceptual use case (concept case) corresponding to an actual furniture manufacturing process was developed. The identification of the space for the use of cobots was verified using the value stream mapping method, and the implementation possibilities were analyzed using dedicated simulation software. The production process was mapped in both the value stream map and the simulation software. The potential for time savings in the implementation of the production process and a potential increase in the average production volume were demonstrated. Thus, the implementation possibilities of the presented concept were positively verified. The presented approach forms the basis for innovative solutions based on an interdisciplinary combination of organizational, management, and technical issues from the perspective of cobot use. This offers the opportunity to develop a cost-effective solution for implementing modern cobotic system technology to reduce waste in line with lean management. The concept opens up the perspective for many questions in terms of how and when to implement a cobotic systems solution in an organization. This is particularly relevant from the perspective of a company operating in a specific industry, using selected technologies and work organization methods.