Combine the quinoa, water and salt in a medium saucepan. Bring the water to a boil, and after the water begins to boil, reduce the heat to low and cover the pan.
Gently simmer, covered, for 15 minutes (there may still be some water not yet absorbed). Remove from heat.
Keeping the pan covered, let stand for 5 minutes or until the remaining water is absorbed.
Remove the lid and gently fluff the quinoa with a fork. Set aside to cool.
In a bowl, whisk together the olive oil, balsamic vinegar, lemon zest, lemon juice, mustard, salt and pepper. Set aside.
With a sharp knife, cut the corn kernels away from the husk.
In a large bowl, toss together the cooked quinoa, kale, black beans, corn and avocado. Toss with the dressing, and serve at room temperature or chilled. Garnish with cilantro and a lime wedge.