At last the first major release of KDL has arrived.
You can download the latest stable release from:
http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.0-src.tar.bz
The installation manual can be found on:
http://www.orocos.org/kdl/Installation_Manual
A User manual explaining how to use most of the functionality can be found on:
http://www.orocos.org/kdl/User_Manual