Position feedback for robotic arm. Potentiometer vs cheap encoder

Hie all i am planning on using stepper motors for my robot arm to pair onto my robot chassis. i want to get feedback for the position of each axis in space and i am contemplating using either potentiometers or encoders. encoders are rather expensive and was wondering if potentiometers would be sufficient enough? the arm is a 5 axis arm and would not want to spend more than $15 AUD on encoders per axis since the chasis cost me a bit to make.

I am using arduino as my microcontroller and will be used with rosserial with ROS.

cheers

submitted by /u/OmegaTau
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