In a MySQL cursor, will it be possible to skip an iteration or row of the cursor?
Cursors can usually be turned into queries.  Programming SQL with cursors in avoiding the power of SQL.

But first, a lesson on ordering.  A "table" is unordered.  Doing a SELECT gives you no guarantee of what the rows will be delivered in -- unless you have an ORDER BY clause.

Is this what you are trying to do?  "Fetch some rows from a combination of tables, but stop when some condition is met."?

If, instead, you need to "Fetch all the rows from a combination of tables, except the rows that meet some condition", then a single query like this will suffice:

SELECT ...
    FROM a JOIN b ...
    WHERE NOT EXISTS ( SELECT 1 FROM SER_LEGAL.EVALUACION_has_ARTICULO WHERE ... )


No cursor needed.

If you really need to stop at the "first" occurrence of such, then provide the ORDER BY so we can discuss further.