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Based on theoretical modeling, dynamic test and multi objective optimization technique, a parameter identification method of generalized joints was proposed. The method first considered the double coupling characteristics between joints and machine tool parts, and then constructed the generalized equivalent joint model of linear guideway. By structure condensation technique, more accuracy and higher efficiency of computation were achieved. Finally, the whole structure dynamic model in impedance form under constraint condition was derived. This model combines the theoretical modeling, dynamic test and multi objective optimization problem to identify the joints parameters based on transfer function and impedance information acquisition. The verification examples show that this identification method is effective, the errors of modal frequency and frequency response function are very small, and the identification accuracy is high.