diff -urN KNI_3.9.2/demo/Makefile KNI_3.9.2.sofixes/demo/Makefile
--- KNI_3.9.2/demo/Makefile	2007-06-20 08:05:24.000000000 +0200
+++ KNI_3.9.2.sofixes/demo/Makefile	2009-08-28 22:09:05.000000000 +0200
@@ -34,11 +34,11 @@
 INCLUDE_DIR = ../include -I./common
 LIBRARY_DIR  = ../lib/linux
 
-BASE_LIBRARY = $(LIBRARY_DIR)/libKNIBase.a
-INVKIN_LIBRARY = $(LIBRARY_DIR)/libKNI_InvKin.a
-LM_LIBRARY = $(LIBRARY_DIR)/libKNI_LM.a
+BASE_LIBRARY = $(LIBRARY_DIR)/libKNIBase3.a
+INVKIN_LIBRARY = $(LIBRARY_DIR)/libKNI_InvKin3.a
+LM_LIBRARY = $(LIBRARY_DIR)/libKNI_LM3.a
 
-AVAILABLE_LIBRARIES = ./common/keyboard.o ${BASE_LIBRARY} ${INVKIN_LIBRARY} ${LM_LIBRARY}
+AVAILABLE_LIBRARIES = ./common/keyboard.o
 
 .SILENT:
 
@@ -55,7 +55,7 @@
 
 $(TARGETS_D): $(CTARGETS_D)
 	echo -n "Building: $@"
-	if $(CXX) $(CXXFLAGS) -I$(INCLUDE_DIR) -lpthread -o $(@:.demo=)/$(@:.demo=) $(wildcard $(@:.demo=)/*.cpp) ${AVAILABLE_LIBRARIES} 2>.clog; \
+	if $(CXX) $(CXXFLAGS) -I$(INCLUDE_DIR) -L../lib/linux -lKNIBase3 -lKNI_InvKin3 -lKNI_LM3 -lpthread -o $(@:.demo=)/$(@:.demo=) $(wildcard $(@:.demo=)/*.cpp) ${AVAILABLE_LIBRARIES} 2>.clog; \
 	then echo " [ok]"; \
 		cat .clog; \
 	else echo " [failed]"; \
diff -urN KNI_3.9.2/src/Base/Makefile KNI_3.9.2.sofixes/src/Base/Makefile
--- KNI_3.9.2/src/Base/Makefile	2007-04-26 08:18:24.000000000 +0200
+++ KNI_3.9.2.sofixes/src/Base/Makefile	2009-08-28 22:08:00.000000000 +0200
@@ -24,20 +24,22 @@
 
 TARGETS		=	alib solib
 
-LIBNAME = libKNIBase
+LIBNAME = libKNIBase3
 SOURCES = cdlCOM.cpp cplSerial.cpp cdlSocket.cpp CRC.cpp kmlBase.cpp kmlExt.cpp kmlMotBase.cpp kmlSctBase.cpp kmlFactories.cpp
 
 ADDITIONAL_DEPS = ../common/Timer.o
 
 LIBNAME_A  = $(LIBNAME).a
 LIBNAME_SO = $(LIBNAME).so.$(MAJOR_VERSION).$(MINOR_VERSION)
-
-SLCFLAGS=-fPIC
-SLLDFLAGS=-shared
+LIBNAME_SO_LN = $(LIBNAME).so
+LIBNAME_SONAME = $(LIBNAME).so.$(MAJOR_VERSION)
 
 INCLUDE_DIR = ../../include
 TARGET_DIR  = ../../lib/linux
 
+SLCFLAGS=-fPIC
+SLLDFLAGS = -shared -L$(TARGET_DIR)
+
 .SILENT:
 
 .SUFFIXES: .cpp.o
@@ -69,8 +71,9 @@
 
 $(TARGET_DIR)/$(LIBNAME_SO): $(SOURCES:.cpp=.o)
 	echo -n "Building: $@"
-	if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ $(SOURCES:.cpp=.o) $(ADDITITIONAL_DEPS) 2>.slog; \
+	if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ -Wl,-soname,$(LIBNAME_SONAME) $(SOURCES:.cpp=.o) $(ADDITIONAL_DEPS) 2>.slog; \
 	then echo " [ok]"; \
+	     ln -s $(LIBNAME_SO) $(TARGET_DIR)/$(LIBNAME_SO_LN); \
 	     cat .slog; \
 	else echo " [failed]"; \
 	     cat .slog; \
diff -urN KNI_3.9.2/src/common/Makefile KNI_3.9.2.sofixes/src/common/Makefile
--- KNI_3.9.2/src/common/Makefile	2007-04-26 08:18:24.000000000 +0200
+++ KNI_3.9.2.sofixes/src/common/Makefile	2009-08-28 22:08:16.000000000 +0200
@@ -17,14 +17,14 @@
 #===========================================================================
 
 CXX		=	g++
-CXXFLAGS	+=	-g -O2 -Wall
+CXXFLAGS	+=	-g -O2 -Wall -fPIC
 
 MAJOR_VERSION	=	3.9
 MINOR_VERSION	=	0
 
 TARGETS		=	alib
 
-LIBNAME = knicommon
+LIBNAME = knicommon3
 SOURCES = Timer.cpp
 
 LIBNAME_A  = $(LIBNAME).a
diff -urN KNI_3.9.2/src/InvKin/Makefile KNI_3.9.2.sofixes/src/InvKin/Makefile
--- KNI_3.9.2/src/InvKin/Makefile	2007-04-26 08:18:24.000000000 +0200
+++ KNI_3.9.2.sofixes/src/InvKin/Makefile	2009-08-28 22:08:25.000000000 +0200
@@ -24,20 +24,23 @@
 
 TARGETS		=	alib solib
 
-LIBNAME = libKNI_InvKin
+LIBNAME = libKNI_InvKin3
 SOURCES = ikBase.cpp KatanaKinematics6M90G.cpp KatanaKinematics6M90T.cpp KatanaKinematics6M180.cpp KatanaKinematics5M180.cpp KatanaKinematicsDecisionAlgorithms.cpp
 
 ADDITIONAL_DEPS = ../common/Timer.o
 
 LIBNAME_A  = $(LIBNAME).a
 LIBNAME_SO = $(LIBNAME).so.$(MAJOR_VERSION).$(MINOR_VERSION)
-
-SLCFLAGS=-fPIC
-SLLDFLAGS=-shared
+LIBNAME_SO_LN = $(LIBNAME).so
+LIBNAME_SONAME = $(LIBNAME).so.$(MAJOR_VERSION)
 
 INCLUDE_DIR = ../../include
 TARGET_DIR  = ../../lib/linux
 
+SLCFLAGS=-fPIC
+SLLDFLAGS=-shared -L$(TARGET_DIR) -lKNIBase3
+
+
 .SILENT:
 
 .SUFFIXES: .cpp.o
@@ -69,8 +72,9 @@
 
 $(TARGET_DIR)/$(LIBNAME_SO): $(SOURCES:.cpp=.o)
 	echo -n "Building: $@"
-	if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ $(SOURCES:.cpp=.o) $(ADDITITIONAL_DEPS) 2>.slog; \
+	if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ -Wl,-soname,$(LIBNAME_SONAME) $(SOURCES:.cpp=.o) $(ADDITIONAL_DEPS) 2>.slog; \
 	then echo " [ok]"; \
+	     ln -s $(LIBNAME_SO) $(TARGET_DIR)/$(LIBNAME_SO_LN); \
 	     cat .slog; \
 	else echo " [failed]"; \
 	     cat .slog; \
diff -urN KNI_3.9.2/src/LM/Makefile KNI_3.9.2.sofixes/src/LM/Makefile
--- KNI_3.9.2/src/LM/Makefile	2007-04-26 08:18:24.000000000 +0200
+++ KNI_3.9.2.sofixes/src/LM/Makefile	2009-08-28 22:08:40.000000000 +0200
@@ -24,20 +24,22 @@
 
 TARGETS		=	alib solib
 
-LIBNAME = libKNI_LM
+LIBNAME = libKNI_LM3
 SOURCES = lmBase.cpp
 
 ADDITIONAL_DEPS = ../common/Timer.o
 
 LIBNAME_A  = $(LIBNAME).a
 LIBNAME_SO = $(LIBNAME).so.$(MAJOR_VERSION).$(MINOR_VERSION)
-
-SLCFLAGS=-fPIC
-SLLDFLAGS=-shared
+LIBNAME_SO_LN = $(LIBNAME).so
+LIBNAME_SONAME = $(LIBNAME).so.$(MAJOR_VERSION)
 
 INCLUDE_DIR = ../../include
 TARGET_DIR  = ../../lib/linux
 
+SLCFLAGS=-fPIC
+SLLDFLAGS=-shared -L$(TARGET_DIR) -lKNIBase3 -lKNI_InvKin3
+
 .SILENT:
 
 .SUFFIXES: .cpp.o
@@ -69,8 +71,9 @@
 
 $(TARGET_DIR)/$(LIBNAME_SO): $(SOURCES:.cpp=.o)
 	echo -n "Building: $@"
-	if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ $(SOURCES:.cpp=.o) $(ADDITITIONAL_DEPS) 2>.slog; \
+	if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ -Wl,-soname,$(LIBNAME_SONAME) $(SOURCES:.cpp=.o) $(ADDITIONAL_DEPS) 2>.slog; \
 	then echo " [ok]"; \
+	     ln -s $(LIBNAME_SO) $(TARGET_DIR)/$(LIBNAME_SO_LN); \
 	     cat .slog; \
 	else echo " [failed]"; \
 	     cat .slog; \