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Abstract The characterization of antenna radiation patterns in millimeter‐wave (mmW) bands can be particularly challenging. Due to a small wavelength, minute misplacement of the probe antenna in the order of few millimeters can generate substantial errors in the measured pattern. A highly precise measurement system that incorporates a 6‐axis compact robotic arm is implemented to overcome this challenge. System testing shows a positional accuracy and repeatability of approximately 20 μm or 0.004λ at 60 GHz. After implementation, programming, and testing, the system is used to measure gain patterns on three different mmW antennas. The radiation pattern of a 50–75 GHz standard gain horn antenna demonstrated the accurate measurement at the far‐field using the robotically controlled system. Furthermore, the characterization of the center element pattern of a 60 GHz phased array has shown that the measurements with this system are repeatable and suitable for arrays as well. Additionally, we performed near‐field measurements by successfully characterizing a 40–60 GHz horn antenna with a planar scan.