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Copernicus produced the first full model of the planets with the Sun at the centre. It resembled the old geocentric Ptolemaic system with orbits based on circle and epicycles, but Copernicus's model was simpler in the fact that the epicycles for the inner planets were much reduced in size. His model was published in 1543.

Tycho Brahe produced a geocentric model that had Mercury and Venus orbiting the Sun, in the late 1500s.

Johannes Kepler worked on a new model based on Tycho's observations, and he hit on the idea that the planets' orbits are elliptical with the Sun at (or near) the centre. His work was published in 1609.

All these models were purely phenomenological, they only attempted to describe the observed motion of the planets as accurately as possible. But in the late 1600s Isaac newton made theoretical discoveries that led him to explain the planets' elliptical orbits in terms of the laws of motion and the law of gravity.

Newon's theory was published in 1687. Since then the Kepler model with Newton's theoretical backup has become the accepted model.

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