Material deposition systems with four or more axes

A non-transitory computer-readable medium storing software comprising instructions executable by one or more computers, which, upon such execution, cause the one or more computers to perform operations for controlling a 3D printer to create a 3D object, the 3D printer comprising an extruder for one or more deposition materials, the extruder comprising at least one nozzle and a movable support for the nozzle, wherein the nozzle has a nozzle axis and is rotatably attached to the movable support via a connector that is actuatable relative to the movable support to change an angular orientation of the nozzle axis relative to the movable support so as to vary an angle between the nozzle axis and a deposition surface during deposition of the one or more deposition materials, the operations comprising:

• applying an adjustment calculated for a path of the nozzle based on the angle formed between the nozzle axis and the deposition surface being an acute angle, the adjustment for the nozzle moving toward the acute angle being different from the adjustment for the nozzle moving away from the acute angle;
• and
• causing movement of the nozzle along the path to deposit material to form the object, wherein the adjustment removes differences in thickness of the deposited material caused by variations in the angle formed between the nozzle axis and the deposition surface,
• wherein the adjustment is applied to a height of the nozzle above the deposition surface and is calculated based on a diameter of a tip of the nozzle and a variable acute angle between the deposition surface and the nozzle axis.