Abstract: An apparatus for optimizing the gap between objects on a roller conveyor is provide which enables independent precise speed and acceleration control of individual rollers and articles carried thereon using small, relatively inexpensive motors and control equipment. The present invention consists of adding a differential drive to the roller, arranged so that the majority of the power is transmitted from a common drive through a low ratio input of the differential drive of each roller. A smaller motor capable of more precise control is connected to the high ratio input of the differential drive of each roller. Thus the speed of an individual roller can be altered by adding to or subtracting from the speed of the main drive.