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.</b>
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.