I think that the phrase "world domination" is too strong. Instead, I would say that it was caused by Japan's desire to have an empire similar to the ones that were controlled by the United States and by various European countries.
This is why Pearl Harbor was attacked. The Japanese did it because they felt they needed to conquer an empire so as to have enough raw materials to keep their country powerful. They realized that the US would try to stop them. Because of that, they tried to destroy the US fleet at Pearl Harbor so the US would be unable to stop them before they got the empire they needed.
I suppose you could say that the war was started by a desire for world domination, but it was a desire on the part of all sides -- the US and Britain wanted to maintain their dominance and the Germans and Japanese wanted to have a piece of the pie.