Note, I would recommend against using/taking a DSLR because you will want to have it attached to various buckles, etc, so that in the event that you slip, tip, etc, that the camera doesn't end up in a ravine. And similarly, you don't want it on a long lead where it will swing and smash into the side of the mountain.
My mountain kit is a 70-200 on a 7D, and a 24-105 on a 5D mkII (formerly 5D mk I... I like the 7D better, but canon does not make a 16-85 f2.5....)
I keep the one in a Toploader, and the other on my side on an r-strap. If it gets dicey, it can go in my backpack. This combo would work pretty well for most Kilimanjaro stuff, from what I have read of the routes; they're not too technical... This combo might be a bit heavy for Kili, but with proper acclimitization, not too bad. Comparatively, Kilimanjaro is not too high... You should be fine with a light SLR, if you are in good shape. A lot of people hump an SLR up Everest (check the blogs...)!!!
On hiking I use the f-stop Satori exp or my click elite contrejour 40 (the side release ist very fine). On walking with my family, I often take an normal deuter backpack with an front release and one of my f-stop ICUs.
Normally, I take my 60D (former: 7D, former-former: 5D) the 12-24 Tokina, 28-70 2.8 Canon, and 35mm 1.4. In special situations the 70-200 2.8 IS.
But in this Special situation I have to reduce the euqipment. "Reduce to maximum"... Maybe an 100D with the 16-35 2.8...
I am not confident which combination to take.
(Sorry for poor english, my diffuse axional laesion brought me back to grammar school.)