Ultra-Reliable Low-Latency Communications (URLLC) is a novel feature of 5G cellular systems. To satisfy strict URLLC requirements for uplink data transmission, the specifications of 5G systems introduce the grant-free channel access method. According to this method, a User Equipment (UE) performs packet transmission without requesting channel resources from a base station (gNB). With the grant-free channel access, the gNB configures the uplink transmission parameters in a long-term time scale. Since the channel quality can significantly change in time and frequency domains, the gNB should select robust transmission parameters to satisfy the URLLC requirements. Many existing studies consider fixed robust uplink transmission parameter selection that allows satisfying the requirements even for UEs with poor channel conditions. However, the more robust transmission parameters are selected, the lower is the network capacity. In this paper, we propose an adaptive algorithm that selects the transmission parameters depending on the channel quality based on the signal-to-noise ratio statistics analysis at the gNB. Simulation results obtained with NS-3 show that the algorithm allows meeting the URLLC latency and reliability requirements while reducing the channel resource consumption more than twice in comparison with the fixed transmission parameters selection.