Provided is a route outputting method, route outputting system, and route outputting program that are able to maintain the posture of an object while a robot is transporting the object. In a route outputting method using an arithmetic device 10 including an external interface 11, a storage unit 12, and an arithmetic unit 15 when a robot 20 having a plurality of movable shafts transports an object W from a first position to a second position, the arithmetic unit 15 executes the steps of: acquiring the first position and the second position using the external interface 11; acquiring transport conditions when the robot 20 transports the object W from the first position to the second position; generating a route for the robot 20 to transport the object W from the first position to the second position, the transport conditions being satisfied along the entire route; and outputting the generated route using the external interface 11.
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