1. A friction identification method performed by a fiction identification device that is connected to a control device which drives a motor to drive a driven object, the friction identification method comprising: receiving a position, a displacement, a velocity, and an acceleration of the driven object, and a driving force from the control device; measuring a relation between a driving force and a position of the driven object; identifying; a parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object; measuring a relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed; identifying; a parameter of a displacement-dependent friction model by using a relation between a driving force and a displacement of the driven object, and by using the position-dependent friction model; measuring a relation between a driving force and a velocity of the driven object; identifying a parameter of a velocity-dependent friction model by, using a relation between a driving force and a velocity of the driven object, and by using the position-dependent friction model and the displacement-dependent friction model; measuring a relation between a driving force and an acceleration of the driven object; identifying a parameter of an acceleration-dependent friction model by using a relation between a driving force and an acceleration of the driven object, and by using the position-dependent friction model, the displacement-dependent friction model, and the velocity-dependent friction model and outputting the parameters of the position-dependent friction model, the displacement-dependent friction model, the velocity-dependent friction model, and the acceleration-dependent friction model to the control device so that the control device drives the driven object using the parameters of the fiction models, each of the friction model being depending on a single state amount of the position, the displacement, the velocity, or the acceleration.