A novel adaptive configuration method of friction compensation pulse characteristic parameters was proposed. The friction compensation pulse characteristic parameters were accurately calculated by the dynamic iterative process based on trajectory parameters, friction torque, the desired performance value, dynamic information and servo control parameters. This method was adopted to compensate for the friction error on the precision motion worktable. The experiment results show that the proposed method has a better performance and the deviation peak of tracking error is less than  1 μm under different working conditions and trajectories.