Another way to debug an android app

I want to debug my android application, I have Eclipse Installed fully setup for android developement.

The problem is,

1) I can't run android emulator(Hardware Concerns).

2) I can't attach phone to my computer(Driver Concerns).

Now,
Is there a way to get debug functionality by putting directly the apk into the phone storage and installing it from there.

I wanted get the logcat of the application that I'll be running.

Basically I'm quite naive in android, I'm not quite sure of the terms I said but, What I want is a way to test my app on my phone without the role of my PC.