If you grant an ordinary Domain User the Add Workstation to Domain user right, they will be able to remotely add a computer account to the domain using Server Manager for Domains from the NT Server Client/Srvtools folder and to remove a computer account that they created.

They will be able to join a domain from Control Panel / Network and specify their UserName and Password.

NOTE: If the user receives:

                                    Unable to add or change accounts on the domain. The                                    account information entered does not grant sufficient                                    privilege to create                                    or change accounts.
someone else added the computer account. The computer account must be removed by them. The computer account must not be present or must be added by this user.