Three-dimensional object printing method and robot teaching method

A three-dimensional object printing method using a head and a robot, the head having an ejection face in which a plurality of nozzles for ejecting liquid is provided, the robot changing relative position and orientation of the head in relation to a three-dimensional workpiece, a surface of the workpiece having a smooth region and a stepped region, the stepped region being adjacent to the smooth region and including a step, the three-dimensional object printing method comprising:

• first print operation of ejecting liquid from the head onto the smooth region during a period of changing the relative position and orientation of the head and the workpiece;
• and
• second print operation, antecedent to or subsequent to the first print operation, of ejecting liquid from the head onto the stepped region during a period of changing the relative position and orientation of the head and the workpiece,
• wherein
• an amount of change in an angle of ejection during execution of the second print operation is larger than an amount of change in the angle of ejection during execution of the first print operation,
• where,
• the angle of ejection is an angle formed by a first normal line and a second normal line,
• the first normal line is a line normal to the ejection face, and
• the second normal line is a line normal to the surface of the workpiece at a point of intersection with the first normal line.