1 : A friction identification method comprising: a step of measuring a relation between a driving force and a position of a driven object; a step of identifying a parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object; a step of measuring a relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed; a step of 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; a step of measuring a relation between a driving force and a velocity of the driven object; a step of 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; a step of measuring a relation between a driving force and an acceleration of the driven object; and a step of 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.