There may well have been antecedants, but from a quick search it looks like the legal framework for broad limited liability corporations came about in the 1800's. Here is [link|http://history.wisc.edu/dunlavy/Corporations/c_laws.htm|list] of some of the acts involved in England. Note that in some of those acts, to have limited liability, the corporation's name has to say that it does. I have found [link|http://www.ratical.org/corporations/TransNCnotes.html|reference] to this framework coming into place in several countries in the same time frame.
Also some earlier institutions which one would have absolutely expected to make use of that framework if they were founded in an era when it was available (eg Lloyds of London) had unlimited liability. Actually Lloyds has started doing limited liability in the last decade or so, after many of their names got financially wiped out. Which demonstrates why one would have expected them to use limited liability from the start if they had the option. :-)
Among those antecedants, of course, were corporations (eg the East India Company) created by governments. Adam Smith commented negatively on those in The Wealth of Nations, and the idea seems to have been about 2 centuries old at the time. (A date I am pulling from [link|http://www.ragm.com/library/books/nightingale/02chap02.pdf|here].)
Then again, I am not an economic historian. This is just an educated guess on their recentness which a short search seemed to confirm.
Cheers,
Ben