I found lot of open source XML databases (TPOX, Timber , DBXML), but they are working on XPath and XQuery, I need a system which is developed for the purpose of "Keyword search on XML documents".
I'm not sure what a "Keyword search" is, but you can set up a search engine, such as lucene/solr to index your data and then search through that.
Many of the XML databases provide keyword indexing on the XML documents in them. You are not just limited to XPath expressions. You can do a keyword search across all the documents in the database.
Often times, you can express your keyword queries (and process the results of the query) in XQuery. See exist-db for an example: http://exist.sourceforge.net/kwic.html
There is support for keyword limited to particular elements or you could just do keyword across the document as a whole. See the XQuery Full-text spec for all the options: http://www.w3.org/TR/xpath-full-text-10/
BaseX is another open source XML database that supports the full-text (ie keyword searching) spec: http://www.inf.uni-konstanz.de/dbis/basex/
If you want open source fulltext search without the database though you might want to look at the older XQengine - http://xqengine.sourceforge.net/ - or, like someone else said, just use Lucene and index all the text in a document that way.