The short answer is yes it's possible. But CyberArk has changed over the years so contacting CyberArk would be the best way to go here and they can tell you what's possible. Blue Prism isn't really a hindrance either way because even if an integration doesn't exist or perhaps a Skill on the DX (there appear to be two but here's one of them:
link to DX), you can still just make API calls to CyberArk to use any of their functionality. For example, at least in CyberArk v10, it was possible to update a password of an account stored as a secret:
link to CyberArk docs.
It depends on what version of CyberArk you're using, and it also very much depends on the model/way in which you're using it. CyberArk is built on the idea of rotating passwords automatically, it seems, though you can also purposefully change the passwords and update them by API call as well. However, if I remember correctly, CyberArk v9.x and below do not give you the ability to change a password by API, but CyberArk v10.x does, but I don't know about v11.x because I haven't used it.
I should mention that I did not use AIM or if it somehow was involved, I was unaware of it. =) I went strictly with the use of the REST API services that CyberArk offers, and I used Blue Prism to periodically change passwords and then push the new passwords to CyberArk.
But I do agree that it's best to ask CyberArk about this.
------------------------------
Dave Morris
Cano Ai
Atlanta, GA
------------------------------
Dave Morris, 3Ci at Southern Company