I have just taken over the troop in our area. On merit badges like pet can the parents act as the counselor even though they are not official merit badge counselor registered with bsa?
No, At a minimum, all Merit Badge Counselors need to be approved by the Council / District. They need to be registered in that position, and have taken YPT. It is also discouraged that a parent be a merit badge counselor for their own child, unless they are leading a group of scouts in that merit badge.
ETA: Regarding parents counseling their own scouts, it is specifically permitted in the Guide to Advancement, although as @RickBerg points out, they are encouraged to work with other counselors.
There is also this:
22.214.171.124 The Scout, the Blue Card, and the Unit Leader
The unit leader and Scout should come to agreement as to who the counselor will be. Lacking agreement, the Scout must be allowed to work with the counselor of his or her choice, so long as the counselor is registered and has been approved by the council advancement committee. However, see “Counselor Approvals and Limitations,” 126.96.36.199, for circumstances when a unit leader may place limits on the number of merit badges that may be earned from one counselor.
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