A holonomic drive can provide rotational and translational acceleration simultaneously in any direction. For this reason the holonomic drive technology is very desirable in creating motion for any mobile platform and has many promising mobility applications in the field of robotics and automation where manipulability is critical issue especially when the mobile system is operated in obstacle prone environment. In this paper a pragmatic methodology for realizing a holonomic drive system using multiple servo-casters is presented. The steering and driving of each servo-caster is controlled such that they are coordinated with the motions of other servo-casters in order to realize holonomic motion. This paper also proposes algorithms for varying manipulability as operation situation demands.