A danger presentation device includes a worker position acquisition unit configured to acquire a worker position which is a position of a worker; a worker view range determination unit configured to determine a view range of the worker depending on the worker position acquired by the worker position acquisition unit; a position/posture determination unit configured to determine a position/posture which contains at least one of a position of a robot and a posture of the robot at a specific time in which at least a part of the robot which operates in accordance with a motion planning is included in the view range; and an image generation unit configured to generate image data for illustrating the position/posture determined by the position/posture determination unit.