You'll first need to install KDL (see installation guides).
The plugin is compiled when ENABLE_RlPlugins_kdlbot is activated (not default). For further installation steps refer to your own system installation guidelines.
You should pass kdlbot as the controller parameter along with its configuration to a cartesianServer. Here's a shortcut that loads a file with all the necessary configuration:
[terminal 1] yarp server
[terminal 2] cartesianServer --from cartesianServerKdl.ini