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" ... About 400 years ago, a battle was unfolding about the nature of the Universe. For millennia, astronomers had accurately described the orbits of the planets using a geocentric model, where the Earth was stationary and all the other objects orbited around it. Armed with the mathematics of geometry and precise astronomical observations — including tools like circles, equants, deferents, and epicycles — the precise mathematical description of the heavenly bodies' orbits matched what we saw spectacularly. ... "
" ... Both Ptolemy's geocentric model and all Copernican heliocentric models (with circular orbits) could ... [+] not match the best observable data. Specifically, Tycho Brahe conducted some of the best observations of Mars prior to the invention of the telescope. Here, Brahe's observations of Mars's orbit, particularly during retrograde episodes, provided an exquisite confirmation of Kepler's elliptical orbit theory. ... "
" ... One of the great puzzles of the 1500s was how planets moved in an apparently retrograde fashion. ... [+] This could either be explained through Ptolemy's geocentric model (L), or Copernicus' heliocentric one (R). However, getting the details right to arbitrary precision was something neither one could do. ... "