The automatic pouring of molten metal from a ladle into a mold by a machine requires high-precision falling position control of the outflow liquid. In the previous studies, the precise falling position controls of the pouring outflow liquid into the sprue cup of the mold were proposed. However, it is supposed to increase amounts of splashing and air entrainment, since the conventional approaches are not considered the height of the pouring mouth of the ladle. Therefore, in this study, we propose a novel falling position control of the outflow liquid which makes the pouring mouth set as low as possible while avoiding clash between the ladle and the mold. In order to achieve the falling position control of the outflow liquid with both the lower pouring mouth position and the clash avoidance, the proposed approach gives the reference trajectory of the ladle movement considering not only the trajectory of the outflow liquid but also the positional relation between the ladle and the mold. The effectiveness of the proposed approach is verified by experiments of the automatic pouring robot systems with rectangle-shaped ladle.