Can We Do Remote PSSession Without Using Domain Admin Credential to ADServer?

I want to connect with ADserver from a non-domain machine to run

Powershell Script.

I am New to Powershell as well as this forum.

My problem is when I use ADUser credential which has admin

privileges, It allows me to connect with ADserver and I can perform any

task.

But When I use normal ADuser, I can't connect to server. I can't enter

into PSSession.

I want to know that how can i connect to server without using AD

admin Credential or Limited Admin Privileges.

I just want to run a ps1 script that set aduser as local admin to domain

machine.

Which permission required for ADUSer to connect with ADServer and

perform this task???

Please Help Me!!!!