A friction compensation device of the present disclosure includes a drive torque calculation unit that calculates output torque of a transmission mechanism from a motor's position, velocity, and acceleration, the transmission mechanism being connected to a motor via a shaft to transmit the driving force of the motor, and a friction estimate value calculation unit that calculates a friction estimate value that is an estimate value of a friction force on the shaft. The friction estimate value calculation unit includes a friction correction value calculation unit that calculates a friction correction value to correct the friction force on the shaft, in accordance with the output of the drive torque calculation unit.