Can Agile and ISO 9001 interact well?

Question

There are few academic papers addressing the relationship between lean software development and the practices covered by ISO 9001. Most articles says that the divergence between these approaches is big, but some also point that these concepts can be complementary and gains are much higher when using both approaches.

Academically it is very beautiful, but in practice is it anyway?

So here's the question: do you work or worked at companies applying both Agile as ISO 9001? What is your perception? What is really good and what is inappropriate?