A recent disstribution of Linux should automatically recognize an USB printer as soon as it is connected and powered up. This is made possible due to the vendor ID and product ID that are reported by USB devices when they connect to a host.
You can check to see if the usblp driver is loaded:
If not, you can load the module manually:
You can check whether the printer is successfully recognized using the following command:
If you see something similar to the following lines, then the printer is successfully recognized:
You should also be able to confirm the device using the following command: