The robotic servo driven joint produce dynamic errors under the influence of joint elasticity, external disturbance, friction and so on, which affect the tracking accuracy. This paper focuses on the dynamic accuracy control considering internal and external disturbances by using active disturbance rejection control and friction compensation. After establishing the dynamic model of single-joint mechanical system, a full-state feedback control strategy based on active disturbance rejection control is proposed. In order to reduce the dynamic errors during joint commutation, a feedforward friction compensator is designed. The experimental results indicates that the proposed method significantly improves the tracking accuracy of the servo driven joint.