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"The best fuzzy rules, the best knowledge, deal with the turning points of the system. If a race-car driver teaches you how to drive, you don't need him to show you how to drive on the straightaway. It's how he handles the curves that matters."
- Bart Kosko

Weightlessness (Kepler)  
  The notion that there could be a location with zero effective gravity.  

If Somnium is the first science fiction book (which many people argue is true), then this is probably the first reference to the idea of zero gravity, or weightlessness.

"...for, as magnetic forces of the earth and moon both attract the body and hold it suspended, the effect is as if neither of them were attracting it..."
From Somnium (The Dream), by Johannes Kepler.
Published by Not Known in 1634
Additional resources -

Note that the word "gravity" is not used to describe the attraction between masses; Isaac Newton did not describe universal gravitation until 1687.

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Additional resources:
  More Ideas and Technology from Somnium (The Dream)
  More Ideas and Technology by Johannes Kepler
  Tech news articles related to Somnium (The Dream)
  Tech news articles related to works by Johannes Kepler

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