Based on the base module of Universal Robotics, this paper deals with a 16-pole, 18-slot fractional-slot concentrated-winding permanent magnet synchronous machine (PMSM) for articulated robot applications considering several pole-slot combinations and using an optimum design. The selected PMSM considering the pole-slot combination is optimized and compared both analytically and experimentally. The experimental results confirmed that the proposed PMSM can achieve improved performance at the rated state. Repeatability test results of the proposed smart actuator with a link-attached sphere-mounted retroreflector sensor met the goal of within <inline-formula> <tex-math notation="LaTeX">100~\mu \text{m} </tex-math></inline-formula> according to a laser tracker. The analysis results are in good agreement with the experimental results within the maximum 2.5% error in terms of the efficiency. The design, analysis, and experiment with the PMSM for articulated robot applications were conducted successfully.