With JUST an Arduino? No. The Arduino alone can not drive a wiper motor.
The Arduino with suitable motor driver (shield) can be used.
the motor should turn 360 degree with 20 rpm and it should stop
Stopping at exactly 360 degrees will be a real challenge. Without position feedback, like a servo has, you'll just be guessing how long to drive the motor.
it will turn 360 degree and stop. is it so diffucult?
Get in your car. Drive to a big open space. Stop. Get out. Put some cones out to define a 90 degree turn starting some distance in front of your car. Put some cones to define a stopping place, some distance after the turn.
Get back in the car. Put a blindfold on. Drive the car the proper distance. Turn the steering wheel to make the turn. Turn it back, to end the turn. Stop after driving the proper distance.
Get out. Are you anywhere near where you expected? How many cones did you kill in the process?
Feedback is absolutely essential. Without it, you are just guessing. Yes, it IS difficult.