Not as such. On the Palm Desktop menu go to File>Export and export Date Book as vCal. I don't know whether you can import on an iPad, but on your Mac: in iCal File>Import and import the vCal file into iCal. You can't separate the Palm categories s everything will appear as one calendar and you will need to go through every event making any necessary adjustments such as moving the events to different calendars. You can then sync this to the iPad.
If you have iCloud, the imported Palm calendar will appear as an 'On My Mac' calendar (of course the problem here is that the Palm Desktop won't run on Lion and iCloud won't run on anything earlier). Use File>Export>Export to export this as an .ics file. Create a new calendar under your iCloud login name and import the .ics file into this. Delete the previously imported calendar.