**6. Conclusion**

The goal of this chapter is to implement HIL-based grasp and task control algorithms supported by using the vision-based sensors, tactile, and force sensors. The objective was to test the performance of the youBot arm for physical interaction with an environment and control its manipulation using the algorithms implemented in C2000 real time controller based on HIL simulation technique. HILbased control algorithms actuate the joints of virtual youBot model implemented with appropriate scenario in V-REP robot simulator driven by the model of the robot implemented using MATLAB. After the analysis of performance of HILbased grasp and task control algorithms youBot arm and a study of the pre-existing control and hardware, we proposed a new decentralized control architecture. The control algorithms are tested first using C2000 controller on a V-REP robot simulator, then by observing satisfactory performance of the algorithms they can be ported to real youBot arm. The HIL-based results of the vision and force controller give confidence level of 92% to deploy them on real youBot mobile manipulator. It can be further improved with more adaptive and optimization techniques.

## **Acknowledgements**

The authors gratefully acknowledge the support of the Management of Mepco Schlenk Engineering College, Sivakasi, Tamil Nadu, India, the Principal and Head of Electronics and Communication Engineering Department for their constant support and encouragement.
