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dbaker72
07-08-2005, 09:15 AM
Hello Paolo:

I suspect you are hinting at calling these affine transformations rather
than homogeneous, though I am not sure. I don't have the information at my
fingertips to trace it back further than below, but these would be great
starting points:

Denavit, J. and Hartenberg, R. S., "Kinematic Notation for Lower-Pair
Mechanisms Based on Matricies," ASME J. of Applied Mechanics, June
1955: 215-221.
Hartenberg, R. S. and Denavit, J., "Kinematic Synthesis of Linkages,"
McGraw-Hill, New York, 1964, Chapter 12.

In robotics, these two are credited with quite a number of applications,
however they are probably not the first to use it. These are the earliest
references I have found for this transformation and I suspect that one of
those articles will have other references or authors who did it [probably
much] earlier.

Good luck tracing back the history, I'm interested in what you uncover.

Best regards,

Dan

---------------------------------
Daniel R. Baker, Ph.D., President
Kinetic Research & Design, Inc. -- "Biomedical Systems and Solutions"
13203 39th Ave. NE, Suite 101
Seattle, WA 98125-4615 USA
206.361.8324 (phone) -- 206.417.7873 (fax)
Aff. Assist. Professor -- Dept. of Bioengineering, University of Washington

drbaker@kinetic-rd.com
www.kinetic-rd.com

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