Launching a helpsite on click of an icon from cs is not supported, as you are already logged into Customer service and KMPortal ruleset is not part of CS stack. For launching helpsite we do have an activity in KMPortal ruleset which is KMDisplayHelpPortal, when you pass appropriate parameters, the helpsite is opened with the article .
If i have to launch the exact and specific article on click of an icon in a screen of a CPM service Intent, How?
You can do a obj-open of the article with article id, and show it in the pop up screen, if your question was related to showcasing the article in helpsite, then opening the article using the url as below in private window will work. but with in session it would not work fine as KMPortal ruleset is not part of your stack.