Abstract
A motion trajectory generation method for generating a motion trajectory of a robot having a plurality of drive axes upon carrying out work at a work position includes: an obtaining step of obtaining a motion condition identified and corresponding to the work position; and a generation step of generating a motion trajectory of the robot by carrying out a search for a plurality of motion trajectories that the robot is able to implement, on the basis of the motion condition, in which in the generation step, priority levels in the search are determined on the basis of the motion condition and work directions for a plurality of work positions, and the search for the plurality of motion trajectories is carried out on the basis of the priority levels.