To provide a method of generating movement path data of a movable body allowing the movable body to pass through a command value without passing through a unnecessary route.

The method of generating movement path data of a movable body by interpolating command values serially given to specify a moving position by use of a cubic function includes: a step of interpolating between a first command value and a second command value to be passed through later than the first command value, based on the first command value and the second command value; and a step of, when a third command value to be passed through later than the second command value is acquired while the movable body moves between a first position specified by the first command value and a second position specified by the second command value, interpolating between a present command value to specify a present value and the second command value, based on the present command value, the second command value and the third command value.