A motion space presentation device includes: a work area generation unit configured to generate a three-dimensional region in which the movable robot operates; an image capture unit configured to capture a real image; a position and posture detection unit configured to detect an image capture position and an image capture direction of the image capture unit; and an overlay unit configured to selectively superimpose either an image of a segment approximation model of the movable robot as viewed in the image capture direction from the image capture position, or an image of the three-dimensional region as viewed in the image capture direction from the image capture position, on the real image captured by the image capture unit, according to the difficulty in recognizing each image.