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you would need to use the JDeveloper version for the WLS version, which is JDeveloper 126.96.36.199. JDeveloper 11g R2 requires a patches WLS server, which then would break your Forms WLS instance for 11g R1 based applications. So the short answer is no, you need a separate WLS domain (with the patches applied as mentioned in the JDeveloper 188.8.131.52 release notes)
You need to distinct between installing JDeveloper which should be installed in its own directory and then it can be mapped to use existing Weblogic server, and installing the ADF Runtime libraries on an existing server.
please clarify which of the two you are aiming to do.