A trajectory generation system (60) includes a computing unit (61) that generates a trajectory (70) on which a mobile body (1) or a gripper (20) moves from a start position (S) to a target position (G), and an evaluating unit (62) that evaluates a plurality of trajectory candidates. The computing unit (61) generates the trajectory candidates (71a - 71e) leading to a target area (GA) including the target position (G) and its vicinity, with a plurality of degrees of freedom associated with predetermined grip conditions, within at least one of a range in which the candidates can be computed in a predetermined period (TS), a range in which they can be computed in a predetermined processing amount, and a range in which a predetermined number of trajectory candidates can be computed. The evaluating unit (62) conducts evaluation of the trajectory candidates (71a - 71e) generated, based on an evaluation item, and the computing unit generates the trajectory (70), using one trajectory candidate (71b) selected based on the evaluation.
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