as my title suggest, I have a uln2003a, a 6 wire stepper motor (https://goo.gl/YyDuJZ) and Arduino one.
Is it possible to control the stepper motor through uln2003a without supply another source power for the motor (using 5v of Arduino)
I don't know if it is possible to drive that motor with a uln2003. I would use a Sparkfun Easydriver or BigEasyDriver or a Pololu A4988 stepper driver. They are all for 4-wire motors and you can ignore the two wires on your motor that go to the centres of the coils.
Also the motor will work much better with 12v or 24v. Just adjust the current limit on the stepper driver to 500mA to protect the motor.
In any case it is not a good idea to power any motor from the Arduino 5v pin - it cannot provide enough current and voltage spikes caused by the motor can damage the Arduino.