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Re: Homogeneous transformations and the history of matrix algebra

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  • Re: Homogeneous transformations and the history of matrix algebra

    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

    ---------------------------------
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    Aff. Assist. Professor -- Dept. of Bioengineering, University of Washington

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