Route generation device, route generation method, and route generation program

The invention provides a route generation device. The path generation device (3) includes an object setting unit (54) that sets an object model (71), a device setting unit (55) that sets a device model (72) that is a model of the robot arm (12), a path generation unit (56) that gradually generates a path of the robot arm (12), and an interference determination unit (57) that determines interference between the robot arm (12) and the path generation unit (56). And a disturbance determination unit (57) that, on the basis of the distance between the object model (71) and the device model (72), determines the disturbance between the object model (71) and the device model (72) that has moved along the path. When the interference determination unit (57) determines that there is a possibility of interference between the object model (71) and the device model (72), at least one of the object setting unit (54) and the device setting unit (55) increases the density of the point cloud of the point cloud model, and the i