Liquid discharge apparatus, liquid discharge method, and storage medium

A liquid discharge method comprising:

• discharging a liquid from a nozzle of a head to apply the liquid onto a surface of an object, the head having a prescribed discharge condition;
• changing a relative position between the object and the head by a position changer having an arm that holds the head;
• determining a linear trajectory along which the head moves based on the prescribed discharge condition, the linear trajectory having a start position where the head starts moving and an end position where the head ends moving;
• outputting a first command to cause the position changer to adjust a position of the head by moving the position changer, such that a discharge distance between the nozzle and the surface of the object in a normal direction of the surface of the object is set to be a prescribed distance at the start position and the end position of the linear trajectory;
• and
• outputting a second command to discharge the liquid, while being moved by driving the arm of the position changer, at multiple discharge positions, wherein
• the first command is skipped while outputting the second command along the linear trajectory.

A non-transitory storage medium storing a plurality of instructions which, when executed by one or more processors, causes the processors to perform a method, comprising:

• discharging a liquid from a nozzle of a head to apply the liquid onto a surface of an object, the head having a prescribed discharge condition;
• changing a relative position between the object and the head by a position changer having an arm that holds the head;
• determining a linear trajectory along which the head moves based on the prescribed discharge condition, the linear trajectory having a start position where the head starts moving and an end position where the head ends moving;
• outputting a first command to cause the position changer to adjust a position of the head by moving the position changer, such that a discharge distance between the nozzle and the surface of the object in a normal direction of the surface of the object is set to be a prescribed distance at the start position and the end position of the linear trajectory;
• and
• outputting a second command to discharge the liquid, while being moved by driving the arm of the position changer, at multiple discharge positions, wherein
• the first command is skipped while outputting the second command along the linear trajectory.