I haven't heard about any way to remove the drm protection, Apple's got that stuff locked up pretty tight. I do know that there is a good app for syncing with iTunes, doubletwist, in the market. Not sure if it does anything about the drm, but it's worth a shot.
iTunes music has been DRM free for a couple of years now. Make sure your library is upgraded to iTunes Plus. Upgrading songs to iTunes Plus does cost money (I've heard about $0.30 per song). Any music purchased after iTunes went DRM free (like I said, couple of years ago) will already be in iTunes Plus format.