diff --git a/cmake/serial_manipulator_joint_types/CMakeLists.txt b/cmake/serial_manipulator_joint_types/CMakeLists.txt
new file mode 100644
index 0000000..219567c
--- /dev/null
+++ b/cmake/serial_manipulator_joint_types/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.16)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../dqrobotics_dependencies.cmake)
+
+project(serial_manipulator_joint_types)
+
+add_executable(${PROJECT_NAME}
+    ${PROJECT_NAME}.cpp
+    )
+
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}
+    dqrobotics
+    )
diff --git a/cmake/serial_manipulator_joint_types/serial_manipulator_joint_types.cpp b/cmake/serial_manipulator_joint_types/serial_manipulator_joint_types.cpp
new file mode 100644
index 0000000..5665c73
--- /dev/null
+++ b/cmake/serial_manipulator_joint_types/serial_manipulator_joint_types.cpp
@@ -0,0 +1,94 @@
+/**
+(C) Copyright 2011-2025 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+- Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+*/
+
+#include <iostream>
+#include <dqrobotics/DQ.h>
+#include <dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h>
+#include <dqrobotics/robot_modeling/DQ_SerialManipulatorMDH.h>
+#include <dqrobotics/robot_modeling/DQ_SerialManipulatorDenso.h>
+#include <type_traits>
+
+
+using namespace DQ_robotics;
+
+/**
+ * @brief perform_tests This function tests the following methods: set_joint_type, set_joint_types,
+ *                      get_joint_type, and get_joint_types.
+ * @param robot  A serial manipulator robot.
+ * @param msg    A message to be displayed.
+ */
+template<typename T>
+void perform_tests(const T& robot,
+                   const std::string& msg
+                   );
+
+
+int main()
+{
+    DQ_JointType R = DQ_JointType::REVOLUTE;
+
+    Matrix<double,5,7> dh_matrix(5,7);
+    dh_matrix <<11, 12, 13, 14, 15, 16, 17, // theta
+        21, 22, 23, 24, 25, 26, 27, // d
+        31, 32, 33, 34, 35, 36, 37, // a
+        41, 42, 43, 44, 45, 46, 47, // alpha
+        R,  R,  R,  R,  R,  R,  R;
+
+    auto dh_robot = std::make_shared<DQ_SerialManipulatorDH>(dh_matrix);
+    auto mdh_robot = std::make_shared<DQ_SerialManipulatorMDH>(dh_matrix);
+    auto denso_robot = std::make_shared<DQ_SerialManipulatorDenso>(MatrixXd::Ones(6,6));
+
+    perform_tests(dh_robot,  "DQ_SerialManipulatorDH");
+    perform_tests(mdh_robot, "DQ_SerialManipulatorMDH");
+    perform_tests(denso_robot, "DQ_SerialManipulatorDenso");
+
+    return 0;
+}
+
+template<typename T>
+void perform_tests(const T& robot, const std::string& msg){
+
+    // Test get_joint_type
+    for (int i=0;i<robot->get_dim_configuration_space();i++)
+             assert(robot->get_joint_type(i) == DQ_JointType::REVOLUTE);
+
+    // Test set_joint_type and get_joint_types
+    constexpr bool denso = (std::is_same<T, std::shared_ptr<DQ_SerialManipulatorDenso>>::value);
+    DQ_JointType target_joint_type = DQ_JointType::PRISMATIC;
+    if (denso)
+        target_joint_type = DQ_JointType::REVOLUTE;
+    for (int i=0;i<robot->get_dim_configuration_space();i++)
+        robot->set_joint_type(target_joint_type, i);
+
+    DQ_JointType expected_joint_type = DQ_JointType::PRISMATIC;
+    if (denso)
+        expected_joint_type = DQ_JointType::REVOLUTE;
+    assert(robot->get_joint_types() ==
+           std::vector<DQ_JointType>(robot->get_dim_configuration_space(), expected_joint_type));
+
+    // Test set_joint_types
+    robot->set_joint_types( std::vector<DQ_JointType>(robot->get_dim_configuration_space(), DQ_JointType::REVOLUTE));
+    assert(robot->get_joint_types() ==
+           std::vector<DQ_JointType>(robot->get_dim_configuration_space(), DQ_JointType::REVOLUTE));
+
+    std::cout<<msg + ": setters and getters of the joint types are working as expected!"<<std::endl;
+}