A motion path search device includes a motion space identification unit which identifies, as first spaces, three-dimensional spaces passed through by a movable part in direct teaching operations performed by an operator, and a spatial difference calculation unit that calculates a first differential space that is a part of one of the first spaces identified as a result of one of the direct teaching operations and that has no overlap with another of the first spaces identified as a result of another of the direct teaching operations that precedes the one of the direct teaching operations. A feedback unit provides the operator with information regarding the first differential space, and a path search unit searches for a motion path of the movable part within a first accessible space resulting from combining the first spaces after the direct teaching operations.