|First of all share your usb printer and assign it a name as e.g. EpsonC86 (or whatever you like according to your printer). Then issue the command|
net use LPT1 \\%computername%\EpsonC86 /persistent:YES
I assume your printer accesses LPT1 i.e. the parallel port, however if you operate a serial printer replace LPT1 with COM1 in the above command.
Last but not least be aware the USB printer must be able to handle the DOS printing control streams (as ESC/P or HP PCL) otherwise nothing works.
In that unlucky case you may try a third party utility as DOSprn (http://www.dosprn.com/) that performs limited stream conversion. It is cheap and you can try it before buy.