diff --git a/src/Mod/Robot/App/kdl_cp/chain.cpp b/src/Mod/Robot/App/kdl_cp/chain.cpp
index e7e7ff702..d7510ad11 100644
--- a/src/Mod/Robot/App/kdl_cp/chain.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chain.cpp
@@ -43,7 +43,7 @@ namespace KDL {
         nrOfJoints=0;
         nrOfSegments=0;
         segments.resize(0);
-        for(unsigned int i=0;i<arg.nrOfSegments;i++)
+        for(int i=0;i<arg.nrOfSegments;i++)
             addSegment(arg.getSegment(i));
         return *this;
 
diff --git a/src/Mod/Robot/App/kdl_cp/chainfksolverpos_recursive.cpp b/src/Mod/Robot/App/kdl_cp/chainfksolverpos_recursive.cpp
index 9dd71e2a4..6ce347d47 100644
--- a/src/Mod/Robot/App/kdl_cp/chainfksolverpos_recursive.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainfksolverpos_recursive.cpp
@@ -39,11 +39,11 @@ namespace KDL {
 
         if(q_in.rows()!=chain.getNrOfJoints())
             return -1;
-        else if(segmentNr>chain.getNrOfSegments())
+        else if(segmentNr>static_cast<int>(chain.getNrOfSegments()))
             return -1;
         else{
             int j=0;
-            for(unsigned int i=0;i<segmentNr;i++){
+            for(int i=0;i<segmentNr;i++){
                 if(chain.getSegment(i).getJoint().getType()!=Joint::None){
                     p_out = p_out*chain.getSegment(i).pose(q_in(j));
                     j++;
diff --git a/src/Mod/Robot/App/kdl_cp/chainfksolvervel_recursive.cpp b/src/Mod/Robot/App/kdl_cp/chainfksolvervel_recursive.cpp
index eec31aef0..ebedf1061 100644
--- a/src/Mod/Robot/App/kdl_cp/chainfksolvervel_recursive.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainfksolvervel_recursive.cpp
@@ -43,11 +43,11 @@ namespace KDL
 
         if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints()))
             return -1;
-        else if(segmentNr>chain.getNrOfSegments())
+        else if(segmentNr>static_cast<int>(chain.getNrOfSegments()))
             return -1;
         else{
             int j=0;
-            for (unsigned int i=0;i<segmentNr;i++) {
+            for (int i=0;i<segmentNr;i++) {
                 //Calculate new Frame_base_ee
                 if(chain.getSegment(i).getJoint().getType()!=Joint::None){
                     out=out*FrameVel(chain.getSegment(i).pose(in.q(j)),
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
index 424ae5fd2..fd6dbd5b5 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
@@ -57,8 +57,8 @@ namespace KDL
         for(unsigned int i=0;i<6;i++)
             v_in_eigen(i)=v_in(i);
 
-        for(unsigned int i=0;i<m;i++){
-            for(unsigned int j=0;j<n;j++)
+        for(int i=0;i<m;i++){
+            for(int j=0;j<n;j++)
                 if(transpose)
                     jac_eigen(i,j)=jac(j,i);
                 else
@@ -72,7 +72,7 @@ namespace KDL
         else
             UY = (U.transpose() * v_in_eigen).lazy();
 
-        for (unsigned int i = 0; i < n; i++){
+        for (int i = 0; i < n; i++){
             double wi = UY(i);
             double alpha = S(i);
             
diff --git a/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp b/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
index 79c5d1687..fd193fd0f 100644
--- a/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
@@ -48,7 +48,7 @@ namespace KDL
 
     int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac)
     {
-        if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns())
+        if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=static_cast<int>(jac.columns()))
             return -1;
         T_tmp = Frame::Identity();
         SetToZero(t_tmp);