An imaging inspection apparatus includes a storage unit configured to store a predetermined position between a first position and a second position as a signal output position, the predetermined position being set by using a distance from a reference position that is based on at least one of the first position and the second position; an image-capturing command signal generator configured to determine, when causing a distal end portion of a robot to move from the first position to the second position, whether or not the distal end portion of the robot is located at the signal output position, and if it is determined that the distal end portion of the robot is located at the signal output position, the image-capturing command signal generator transmits, to the image-capturing device, an image-capturing command signal for capturing an image of the inspection object by using the image-capturing device.