Ultimately the device determines which AP it will connect to, regardless of vendor.
a few recommendations to help:
1) move the printer further away from the AP. Being too close can have negative effects.
2) reduce the power level of the further APs. In an ideal environment, you want to reduce overlapping of acceptable signal strengths.
3) add a new SSID to just that one AP and connect the printer to it. This will 100% guarantee the printer only connects to that AP.