check hobby-level CNC machines.
stepper motors are easier to control and manage, open-loop, as terminlogy puts it. you give a pulse to the driver, coils energize in a different pattern (levels if ustep), motor turns a fixed number, feedback is rarely needed.
at a servo mechanism, you energize the coil, check where the motor axle is, and depending on where you need it to go, lower current into the coil or change direction.