Granting computer object creation and deletion on the OU
dsacls "<OU DN>" /I:T /G "<group_or_user>:CCDC;computer"
Granting following permission on descendant computer objects:
dsacls "<OU DN>" /I:S /G "<user or group>:GESDRPWPWD;;computer" "<user or group>:CA;Reset Password;computer" "<user or group>:CA;Change Password;computer" "<user or group>:WS;Validated write to service principal name;computer" "<user or group>:WS;Validated write to DNS host name;computer"
More details about minimal requirements for computer join to domain: https://jonconwayuk.wordpress.com/2011/10/20/minimum-permissions-required-for-account-to-join-workstations-to-the-domain-during-deployment/