This thesis explores the automation of near-field region and far-field region antenna measurements using a 6 degrees of freedom robotic arm. A path planning algorithm is developed to detect and minimize motion discontinuities ("jumps") by evaluating joint movements through a cost function. An inverse kinematics method is used to find all possible joint configurations, allowing for smoother path plannings for the measurements. Various sorting algorithms are developed and tested on both planar and spherical grids to determine the most efficient measurement paths in terms of path smoothness. Furthermore, the optimum placement of the antenna under test is studied using the above-mentioned method, to ensure path feasibility while minimizing the strain on the probe cable. Experimental validation is performed in MATLAB, commercial simulation software RoboDK and on the physical robotic arm. The results confirm that the proposed algorithms successfully reduce joint jumps and cable strain, enabling accurate and automated antenna measurements in both NF and FF configurations.