Not really! I can imagine maybe two on-screen cursors - one controlled with arrow keys, the other with WASD - or possibly even just a few pre-set angles (so AQWED would shoot an arm out in a particular direction) but my guess is that it would feel very different to the mouse version.
Then again, I could quite easily add keyboard buttons so you could use, say, the left/right arrow keys to grab with the left/right arm even if it were still dependent on the mouse to aim. Would that make any difference?