The software described here was developed with ADEFID, a software development platform involving libraries that allow the creation of software packages focused not only on industrial applications, but also on applications where design, modeling and/or on-line simulation are required. Although ADEFID was originally created to develop industrial applications, the integration of the OpenGL libraries, extended the applications to research and training. The software is called IFR_KDS (Interactive Foundations of Robots. Kinematical Design and Simulation), and since the ADEFID graphical environment is based on the Visual Studio Single-Document/View platform, so is IFR_KDS, but with the Multiple-Document/View variant. This chapter focuses on describing both the basic principle of operation of the software and its relevant classes with the aim of providing the reader with the tools that allow not only to explore the software but also to develop his/her own applications. The latter is possible because the software provides the facility to program custom code. During the discussion of this chapter, it is assumed that the reader is familiar in programming with C++, and particularly, with Visual Studio. In case the reader is only interested in recreating the theory discussed in Chaps. 4 – 11 , can go directly to Chap. 15 .