Set user permission to join the computer to the domain without domain admin rights.
Set delegate right to user can join a computer to the domain controller without admin right.
- Open "Active Directory Users and Computers".
- Right-click on the container that you want to adda computer to. And and select "Delegate Control".
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- To continue. Click next.
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- Click "Add" to select users and groups.
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- Select a user to delegate.
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- Click "Next".
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- Select "Create a custom task to delegate". Click "Next".
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- Select "Only the following objects in the folder"
- Check "Computer object"
- Check "Create selected objects in the folder" and click "Next"
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- Check "Create All Child Objects" and click "Next"
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- Click "Finish"
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Ref: https://community.spiceworks.com/t/minimum-permission-needed-to-join-computer-to-domain/47862/2