Yes, you can restore archivelog manually with command :

rman> restore archivelog all;
If you don't have all archivelogs in the backupsets, you can issue command :

rman> restore archivelog from time="dd.mm.yyyy"
or
rman> restore archivelog until scn 123123
or
rman> restore archivelog until time="dd.mm.yyyy"
....

check documentation of RMAN !