robotic arm electronic hardware selection

I want to build a record and repeat robotic arm. I got the idea from this website: [login to view URL] except I want to use stepper motors with encoder attached to the back shaft. here are the links to the stepper motors: [login to view URL] and [login to view URL] and the encoder: Phidgets Inc. - 3531_0 - Optical Rotary Encoder HKT22 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. but it would be fine to use some other controller. 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. I want all of the electronics to to make the robot work. your help is appreciated.