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.

Accurately characterizing antenna radiation patterns in the millimetre-wave (mmW) frequency range presents significant challenges due to the short wavelengths involved. A measurement system that incorporates a 6-axis robotic arm is implemented to gain more positional control over the antenna measurement. This thesis presents the software to control the system, including the robotic arm and a Vector Network Analyser, in a user-friendly manner. Additionally, it dives into the influence of the characteristics and movement of the robotic arm on the setup. To ensure reliability and maintainability of the codebase, the software was structured using several objects and data classes, each responsible for a specific part of the system. Tests of the system showed a solid foundation of the graphical user interface and the back-end software architecture. Analysis of the repeatability of the system revealed that results may deviate by magnitude differences of 0.8 dB and phase differences up to 30°. Compared to a calibrated position of the system, displacements in individual joints led to significant phase difference of up to 20°. There was no correlation found in deviations of magnitude or phase response and the settle time between the movements of the robot and the measuring of the VNA.