Domain Users to administer local computers

Hi am new to the forum. I am newly appointed Sys Admin in windows 2003 domain with 200 plus WinXP Clients. WinXP local admin password has leaked out and we changed it. Can we assign specific domain rights to helpdesk staff to administer local computers using their domain accounts? IF yes what will be the effect:
1. WinXP is not yet joined to the domain
2. There is no connectivity betwn Client and Domain
3. Helpdesk’s user profle will be in each computer a helpdesk staff admini

Advice Please