Drilling is not necessary. The system comes with a solid screw clamp as part of the base. The foot on the table is approx. 12cm deep and 18cm wide (this would probably be the minimum width for the table).
The clamp at the bottom of the table is approx. 5cm deep and 8cm wide and is offset approx. 3cm inwards. So you need 7cm space from the edge at the bottom and 12cm at the top. No tools are needed, the clamp has a good grip. My monitor arm is mounted at the back on the left edge and the IKEA high table motor has no problems with it.