Print to a windows usb printer from linux

I have two computers with the following configurations:

Computer 1:
Windows XP SP 3 (Cannot change)
HP Deskjet D1530 (USB)
I have enabled the "TCP /IP Print Server" service
I have installed "Print Services for Unix"
Windows Firewall and virus protection software have been temporarily disabled/removed from the Windows machine

Computer 2:
Mandrake 8.2 (cannot change)
Samba 2.2.3a (came with M8.2, cannot change)

I am trying to get to a point where I can print TO printers shared by a Windows machine FROM a Linux machine. The printers may or may not have an IP address and may or may not be supported by Linux.

1) I am not even sure if it is even possible to do what I want. Either way, I would like to understand the how and the why of it.

2) From what I've read (although there was only a little information), samba cannot be used to print to shared Windows USB printers. I would like to know if this is true and why it doesn't work, or how to do it if it is possible.

3) I have successfully printed from my linux machine to another HP printer (HP Laserjet 410) on the network (has an IP) and is supported by Linux. Currently, if I attempt to print to my USB HP via samba or CUPS localhost:631, The job is spooled but the queue shows "Error Printing".

4) I would like to avoid installing any third party software on either machine, but I'm not ruling it out as an option.

5) Eventually, print jobs will be scripted, so a command line explanation/solution (as opposed to a KDE/GUI solution) would be preferred, but honestly, I just want it to work right now.

I've been stuck on this for a long time, so any information would be greatly appreciated. Please let me know if there is a

Thank you in advance

awp