Need user that can add and remove computers from domain

Yes , Go through the above mention steps:-
i.e From Adminstrative tools--Active Directory Users and Computers--Browse to the OU which you have all computers--Right Click and select Delegate Control--And selection the option to add /remove object.

You can also simply add user or group into Account Administrators grup in AD. It will solve your needs

GUI link for Implementing Active Directory Delegation:
http://www.windowsecurity.com/articles/Implementing-Active-Directory-Delegation-Administration.html

One more link - Grant permission to add/remove computer from domain
https://www.experts-exchange.com/questions/23124549/Grant-permission-to-add-remove-computer-from-domain.html
 

@ iSiek: Administrators can join computers to the domain without any issues and I think that bpl5000 is asking about granting the mentioned right or access to an ordinary user which can be a member of helpdesk team or his delegate and in this case he don't want him/her to be granted unnecessary rights.

It a way of security nothing more than that.

@mkhairy, that is very interesting about the access denied error even after being delegated permission to do so.  I guess what I'll first do is set things up the way shabarinath has suggested and if I get errors, I'll do the steps that you listed.

Thanks for all the help!

you are most welcome, wish you all the success.

I am just now following shabarinath instructions, but there doesn't seem to be an option of "add /remove computer objects" when delegating on an OU.  I see Create, Delete and Manage User Accounts, but nothing about computer accounts.

Ok, it seems to me you need to go to the Properties of the OU, then the security tab, then Advanced, then add the users with the rights to Create Computer Objects and Delete Computer Objects.