diff --git a/cmake/dh_parameters/CMakeLists.txt b/cmake/dh_parameters/CMakeLists.txt
new file mode 100644
index 0000000..9f2c52b
--- /dev/null
+++ b/cmake/dh_parameters/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.16)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../dqrobotics_dependencies.cmake)
+
+project(dh_parameters)
+
+add_executable(${PROJECT_NAME}
+    ${PROJECT_NAME}.cpp
+    )
+
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}
+    dqrobotics
+    )
diff --git a/cmake/dh_parameters/dh_parameters.cpp b/cmake/dh_parameters/dh_parameters.cpp
new file mode 100644
index 0000000..0be7a85
--- /dev/null
+++ b/cmake/dh_parameters/dh_parameters.cpp
@@ -0,0 +1,97 @@
+/**
+(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>
+using namespace DQ_robotics;
+
+/**
+ * @brief perform_tests This function tests the following methods: get_parameter, get_parameters,
+ *                      set_parameter, and set_parameters in the DQ_SerialManipulatorDH and
+ *                      DQ_SerialManipulatorMDH classes.
+ * @param robot    A smart pointer of a DQ_SerialManipulatorDH or DQ_SerialManipulatorMDH robot.
+ * @param dh_matrix The DH matrix used to create the smart pointer of the robot.
+ * @param msg The desired message to be displayed.
+ */
+template<typename T>
+void perform_tests(const std::shared_ptr<T>& robot, const MatrixXd& dh_matrix, const std::string& msg);
+
+
+int main()
+{
+    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
+        0,  0,  0,  0,  0,  0,  0;
+
+    auto dh_robot  = std::make_shared<DQ_SerialManipulatorDH>(dh_matrix);
+    auto mdh_robot = std::make_shared<DQ_SerialManipulatorMDH>(dh_matrix);
+
+    perform_tests(dh_robot,  dh_matrix, "DQ_SerialManipulatorDH");
+    perform_tests(mdh_robot, dh_matrix, "DQ_SerialManipulatorMDH");
+
+    return 0;
+}
+
+
+
+template<typename T>
+void perform_tests(const std::shared_ptr<T>& robot, const MatrixXd& dh_matrix, const std::string& msg)
+{
+    std::vector<DQ_ParameterDH> parameters =
+        {DQ_ParameterDH::THETA, DQ_ParameterDH::D, DQ_ParameterDH::A, DQ_ParameterDH::ALPHA};
+
+    std::vector<std::string> string_parameters =
+        {"THETA", "D", "A", "ALPHA"};
+
+    std::vector<const char*> char_parameters =
+        {"THETA", "D", "A", "ALPHA"};
+
+    // Test get_parameter
+    for (int i=0;i<robot->get_dim_configuration_space();i++)
+        for(int j=0;j<=3;j++)
+            assert(dh_matrix(j,i) == robot->get_parameter(parameters.at(j), i));
+
+    // Test get_parameters
+    for (int i=0;i<robot->get_dim_configuration_space();i++)
+        for(int j=0;j<=3;j++)
+            assert(dh_matrix.row(j).transpose() == robot->get_parameters(parameters.at(j)));
+
+    // Set the new parameters
+    for(int j=0;j<=3;j++)
+        robot->set_parameters(string_parameters.at(j), dh_matrix.row(j)/10);
+
+    // Test if the new parameters were set correctly using get_parameter
+    for (int i=0;i<robot->get_dim_configuration_space();i++)
+        for(int j=0;j<=3;j++)
+            assert(dh_matrix(j,i)/10 == robot->get_parameter(string_parameters.at(j), i));
+
+    // Test if the new parameters were set correctly using get_parameters
+    for(int j=0;j<=3;j++)
+        assert(dh_matrix.row(j).transpose()/10  == robot->get_parameters(char_parameters.at(j)));
+
+    std::cout<<msg + ": setters and getters of the DH parameters are working as expected!"<<std::endl;
+}