No, the closest thing the AGWS can do are W-Act attacks, and those only apply to certain weapons.

The mechs in Xenosaga are more of a novelty than anything else. There isn't a single situation in which their use is mandatory, and it's not like even using them adds any extra strategy or depth to the combat system. Seriously, all it does is prevent you from Boosting, using Tech Attacks, gaining support from other character's Ether and it allows for a little more damage and a lot more health. They were little more than really fancy accessories.

The Gears in Xenogears were implemented so much better because they were characters unto themselves. They were extensions of the individual party members, and using them added a completely separate layer of strategy and technique to the experience. The Gears were vital to the plot, whereas the AGWS participation is barely noticeable.