The router is not a fully functional TFTP server. It can only serve files for download. You cannot use this feature to upload files into the serving router's local flash. However, the router is not limited to just serving IOS images. You can use your router's flash to store configuration files and make them available for download via TFTP as well.
Note: The tftp-server command has been available since at least 12.2 version of IOS
R1#configure terminal
R1(config)#tftp-server flash:c7200p-adventerprisek9-mz.151-3.S4.bin (IOS Image Exact File Name)
R1(config)#int f0/0
R1(config-if)#ip address 10.0.0.1 255.0.0.0
R1(config-if)#no shutdown
(Now you can perform basic recovery options for TFTP server)
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