$[08]$ Can an arbitrary rigid$-$body transformation always be expressed with four parameters $(a,,d,)$ in the form of equation $(3\mathrm{.}6)?$

$A_i=\left[\begin{array}{cc}{R}_i^{i-1}& o_i^{i-1}\\ 0& 1\end{array}\right](3\mathrm{.}6)$