This is a topic which we addressed in our recent article on the workings of stepper motors, with particular focus on the 4-phase 28BYJ-48 stepper motor and the disadvantages of steppers versus servos.

Then he found the very affordable 28BYJ-48 stepper motor. After some experimenting, he came up with a smooth moving robot arm with four steppers controlled from an Arduino Mega and A4988 stepper ...