For the last decades, industrial manipulator robots have been the best way for factories to automate their applications to save money and time with mass production. There are many applications the industrial robot can do like welding, assembly, packaging, and pick and place. So, the researcher head to improving and developing the end-effectors tools for wide application for industrial robots. This paper presents the full KUKA KR6 R900 kinematic with complete workspace analysis. Also designs and implements an adaptive soft gripper with a low-cost budget and lightweight as an end-effector tool. This gripper can grip various objects of various shapes, so it can save time instead of wasting time by replacing the grippers to fit the object or the product. The results show that the adaptive gripper can successfully grasp many objects of various shapes. Also, it can grasp gently without harming or damaging the object. Furthermore, the kinematics solution of the KUKA manipulator robot was presented. Finally, the complete workspace for the KUKA KR6 R900 was analyzed and presented.