If you can share that printer with other devices on your LAN, you should be able to print using AirPrint. You will have to activate AirPrint in Mac OS X if you have a Mac. Or you will need to install it on a Windows box. Then pair your iPad with your computer over Bluetooth and the shared printer should be available to your iPad for printing.
Activate in Mac OS X with this little app;
Install in Windows with this;