record and repeat Robotic arm (arduino vs raspberry pi?)

[denningt]

I want to build a record and repeat robotic arm.
I got the idea from this website:
https://www.youtube.com/watch?v=QVsdaPGUn1o
except I want to use stepper motors with encoder attached to the back shaft.
here are the links to the stepper motors:
http://www.phidgets.com/products.php?ca ... _id=3330_0
and
http://www.phidgets.com/products.php?ca ... _id=3340_0
and the encoder:
http://www.phidgets.com/products.php?product_id=3531
I would like help on selecting a controller and/or shield hat etc... that would be able to accept the encoder feedback and control 5 stepper motors. If possible i would like to use either an Arduino or raspberry pi.
I know that it is not conventional to use encoders on stepper motors, but I think that the encoders could be used to record the movement of the stepper motors and then repeat the motion.
I want to depower the motors and manually move the robot arm, while the encoders record the position, then i want to "replay" the motion.
your help is appreciated.

[mparadis]

The only Phidgets motor controller that can run bipolar stepper motors is the 1067. It's designed to be able to handle our largest stepper motors, and it can only control 1 motor, so it may not be ideal for your situation with five smaller motors. Most Arduino-compatible motor boards or shields usually only control one motor as well, but they're typically designed for smaller boards and are cheaper. I don't think you'll find one single board that will provide control of 5 bipolar stepper motors and read 5 encoders all at the same time.