The penalty was awarded after a melee involving Robbie and Arsenal keeper Jens Lehmann and after consulting his assistant, referee Mike Halsey booked both before pointing to the spot.
It seemed to take an eternity before Robbie actually stepped up and placed the spot kick high into the top corner to complete our comeback from 2-0 down against the Gunners and send the stadium crazy.
Kasey reflected: "I was standing on the penalty spot in our area wishing that somehow with me doing that, the referee and the linesman would eventually point to the other penalty spot.
"I watched it like everyone else. I had a great angle behind it and when I saw how high he hit it, my first reaction was that, okay, Lehmann went the right side but seeing the height, no-one is going to save that.
"That took some courage and he stuck it away fantastically.
"Credit to everyone involved that we didn't quit, kept going and it makes a big difference to the fans.
"It was inevitable Arsenal were going to win the title but not losing, especially after going 2-0 down, is a lot of credit to everyone."
Credit to Kasey as well - he made key saves with the score ay 2-0 and 2-1 before the late drama.
He added: "You always need something special when the game is going like that and Jamie pulled that strike out, unstoppable.
"It's a combination of things - a good tackle somewhere, a strike out the top drawer.
"Take the Chelsea game at home, Middlesbrough away, we needed that something extra.
"Fredi had a couple of fantastic strikes out of nothing against Everton and in his first game against Leeds at home. Those things win games.
"Making a key save at a time and then someone else follows up, Jamie's goal, Robbie's penalty. Full credit to everyone."
Kasey Keller says it took a lot of courage for Robbie Keane to step up and bury his injury time penalty as he recalled what went through his mind in those nerve-wracking last few minutes on Sunday.