"I have talk to her" is grammatically wrong. "I have talked to her" and "I talked to her" are often used with the same meaning. However, if used grammatically correctly they are not interchangeable.

for the UK a native would most likely say. "I have spoken to/with him/her/them about/on/the/this subject" spoken being past particle of speak to communicate orally. "I talked with him/her/them would not sound natural to many natives" "I will talk to him/her/them" < -- natural sounding in the UK.

If you already talked to her, you can say both: I have talked to her. I talked to her. If you have to talk to her sometime in the future, you can say: I have to talk to her.

I have talked to her. or I talked to her. ( less formal more conversational) **please check out my page if you are looking for an English Teacher :-)