Basically you need to leave the machine in the workgroup, add a network printer, then set it up (add Network Printer) as \\IP address\printer name when the authentication box come up, enter the domain administrator username and password and it will work. Moreover, you could have also set it up as Local Printer then went with "Standard TCP/IP Port" but I think you didn't try that. 
Do update us about the same.

Thank you