The　friction　factor　of　harmonic　reducers　affects　the　transmission　accuracy　in　electromechanical　actuators　(EMAs).　In　this　study,　we　proposed　a　friction　feedforward　compensation　method　based　on　improved　active　disturbance　rejection　control　(IADRC).　A　mathematical　model　of　EMA　was　developed.　The　relationship　between　friction　torque　and　torque　current　was　derived.　Furthermore,　the　compound　ADRC　control　method　of　second-order　speed　loop　and　position　loop　was　studied,　and　an　IADRC　control　method　was　proposed.　A　real　EMA　was　developed,　and　the　working　principles　of　the　EMA　driving　circuit　and　current　sampling　were　analyzed.　The　three　methods-PI,　ADRC,　and　IADRC-were　verified　by　conducting　speed　step　experiments　and　sinusoidal　tracking　experiments.　The　integral　values　of　time　multiplied　by　the　absolute　error　of　the　three　control　modes　under　the　step　speed　mode　were　approximately　47.7,　32.1,　and　15.5,　respectively.　Disregarding　the　inertia　of　the　reducer　and　assuming　that　the　torque　during　no-load　operation　equals　the　friction　torque　during　constant　motion,　the　findings　indicate　that,　under　a　load　purely　driven　by　inertia,　the　IADRC　control　method　enhances　tracking　accuracy.