---
publication_id: "OT-2026-000001358"
title: "Liquid discharge apparatus, liquid discharge method, and storage medium"
published_at: "2026-09-15T19:05:20.217742Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001358"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1684"
  - "b41j3/4073"
  - "b41j3/4073"
  - "b05b12/124"
  - "b05b13/002"
  - "b05b13/0431"
---

# Liquid discharge apparatus, liquid discharge method, and storage medium

## Abstract

A liquid discharge apparatus includes a head, a position changer, and circuitry. The head has a nozzle. The head discharges a liquid from the nozzle to apply the liquid onto a surface of an object. The head has a prescribed discharge condition. The position changer changes a relative position between the object and the head. The circuitry determines a linear trajectory along which the position changer moves the head based on the prescribed discharge condition, outputs a first command including multiple moving positions along the linear trajectory to the position changer to cause the position changer to move the head along the linear trajectory, and outputs a second command including multiple discharge positions to the head to cause the head to discharge the liquid at the multiple discharge positions.