Copy Directory to SMB Share Through Terminal
To gain that possibility, you would need to mount the remote (PC) drive on your Android device. This could e.g. be done using CifsManager or Mount Manager. The latter even offers a Tasker plugin, which would fit your wanted feature of being able to handle things directly from Tasker. And if you have trouble with it, you'll find its author/dev here at ASE, I'd say from the name :)