I think to have found it explicitly.
Let's redefine the two groups like this:
$$A=\langle r\mid r^6\rangle \\ B=\langle a, b\mid a^3, b^2, aba^{-1}b\rangle $$
We can define a homomorphism $\Phi = A\mapsto B$, where $\Phi(xy)=\Phi(x)\Phi(y), \forall x, y\in A$, like that:
$$\Phi(r^2)=a, \Phi(r^3)=b$$
Let's check this is a legitimate isomorphism. Let's expand the $A$ and $B$ groups elements:
$$A=\{e_A, r, r^2, r^3, r^4, r^5\} \\ B=\{e_B, a, b, ab, a^2, a^2b\}$$
We also known from $B$ relator that $ab=ba$.
Going through each element, we get:
$$\Phi(r^2)=a \\ \Phi(r^3)=b \\ \Phi(r^4)=\Phi(r^2r^2)=\Phi(r^2)\Phi(r^2)=a^2 \\ \Phi(e_A)=\Phi(r^2r^4)=\Phi(r^2)\Phi(r^4)=a^3=e_B \\ \Phi(r)=\Phi(r^3r^4)=\Phi(r^3)\Phi(r^4)=a^2b \\ \Phi(r^5)=\Phi(r^2r^3)=\Phi(r^2)\Phi(r^3)=ab$$
Let's check the element order is preserved by the mapping, pointwise.
$$|r^2|=3, |a|=3 \\ |r^3|=2, |b|=2 \\ |e_A|=2, |e_B|=2 \\ |r^4|=3, |a^2|=3 \\ |r|=6, |a^2b|=6, since (a^2b)^2=a^2baab=a^2abab=bab=ab^2=a \implies (a^2b)^6=a^3=e_B \\ |r^5|=6, |ab|=6, since (ab)^6=a^6b^6=(a^3)^2(b^2)^3=e_B$$
So $\Phi$ maps the identity of A to the idendity of B, it's one to one and onto B, preserving all elements order pointwise.
So $\Phi$ it's an isomorphism.