Hover over the window in the task bar and right click on the preview. This should show the restore/minimize/maximize dialog. Click restore if it's an option then do the same and click move. You should be able to then use the arrow keys and "attach" the window to your mouse and move it to the visible area.
Edit: the other way to get this menu depends on the application but if you select the window and hit ALT and then space it should show the restore/minimize/maximize options.