Copernicus decided this with more of an educated guess than anything. For example is when your standing right next to a plane it's huge Right? Well when it's flying it looks really small. He used the same reasoning for stars. Since it looks small it must be farther away.
All the models explain retrograde motion because it is such an obvious phenomenon. In Copernicus's model an outer planet goes into retrograde motion when the inner planet overtakes it so that it appears from the inner planet to be going backwards along the ecliptic.
Isaac Newton
Nicolaus Copernicus
The main difference was that Ptolemy's model was geocentric (Earth-centred) and Copernicus's was heliocentric (Sun-centred). Ptolemy's model came from ancient times while Copernicus's was much later (1543). Both models represented the planets' orbits by using combinations of circles and epicycles to explain the way the planets move among the stars. Copernicus found that the orbits of the inner planets could be explained more simply. That is to say that the epicycles used for all the orbits were smaller, and for the inner planets a lot smaller. Both models represented the planets' positions with reasonable accuracy given the crude observational methods used in those days. Until gravity and the laws of dynamics were discovered about 150 years after the publication of Copernicus's system, there was no way of deciding which model was the 'right' one.
Johannes kelper
He knew that the planets revolved around the sun in an elliptical orbit.
All the models explain retrograde motion because it is such an obvious phenomenon. In Copernicus's model an outer planet goes into retrograde motion when the inner planet overtakes it so that it appears from the inner planet to be going backwards along the ecliptic.
Nicolaus Copernicus.
Copernicus was the first astronomer to come up with the idea of heliocentric cosmology (planets orbit the sun).
Copernicus
Copernicus.
Isaac Newton
Copernicus
Why the planets stayed int their orbit.
Nicolas Copernicus
His theory of the planets came out in 1543.
It was Copernicus.