"standard printer"

Oh, life would be so much easier if such a thing existed! No more messing about with drivers for each different model, etc, etc...!

I think the nearest thing you'll find is probably PCL (HP's Printer Control Language) - this originated on the LaserJet, and is supported by many other HP models and emulated by many other manufacturers.

Depending on just what you're actually trying to do, HPGL (plotter-speak) might be useful?

Time to hit that Internet Search Engine...

Again, depending on just what you're actually trying to do, it might be easier to interface your 8051 to a PC, at let the Windoze do the graphics (it's quite good at that!)