**4.1 Steps in HIL simulation**

The core steps in HIL simulation of the robotic system carried out are as follows:


These sets of tasks investigate the crucial awareness of performing the HIL simulation using embedded target controller, modeling, and simulation tools. Initial step on this process is to work on the virtual model of the simulated plant under test

## *Physical Interaction and Control of Robotic Systems Using Hardware-in-the-Loop Simulation DOI: http://dx.doi.org/10.5772/intechopen.85251*

using the software tool. Followed by, testing of the implemented control algorithms running in the embedded hardware on the simulated model of the robotic system is performed. Finally, these test analyses give the confidence for driving the actual robotic system using the grasp and task control algorithms.
