Friction is one of important factors that cause contouring errors, and the friction error is difficult to predict because of its nonlinearity. In this paper, a prediction model of the friction error of a servo system is proposed based on the Long Short-Term Memory method (LSTM). Firstly, the transfer function is used to predict the position of the servo system, and then the prediction error of the transfer function is obtained. Secondly, the nonlinear friction error is extracted and predicted by a LSTM network. Fi…