We present a novel interferometric arrangement that makes it possible to measure with great versatility geometric phases produced in polarization states of classical light. Our arrangement is robust against thermal and mechanical disturbances and can be set up in a Mach-Zehnder, a Michelson or a Sagnac configuration. We present results concerning the geometric phase as an extension of previous measurements of the Pancharatnam, or total phase. The geometric phase is obtained by compensating the dynamical contribution to the total phase, so as to extract out of it a purely geometric phase. This can be achieved over trajectories on the Poincare sphere that are not necessarily restricted to be great circles (geodesics). We thus demonstrate the feasibility of our method for dynamical extraction of the geometric contribution to the total phase, a prerequisite for building geometric quantum gates. Although our results correspond to polarization states of classical light, the same methodology could be applied in the case of polarization states of single photons.