Well, if I'm reading this right, you simply want to debug your app on your Android device. If that is correct, then all you would really need is the Android SDK and set up ADB or "Android Debug Bridge". Its not terribly difficult, but may take some work to get usb working correctly. You will also need to go to Settings>Applications>Debugging>Enable USB Debugging. If using Eclipse to do the application development, there are several tools that will automate sending the test version of the app to your phone.

For a more in depth answer, look at the Android Developer Site here: http://developer.android.com/guide/developing/device.html

Also, it appears that there is no solution for kies on linux. I don't know anything about kies, but the standard Android app development method should work just fine and there's plenty of documentation at the developer site.