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Kepler's theory eventually replaced Copernicus's theory after Tycho Brahe's measurements enabled Kepler to realise that the planets move in elliptical orbits and not in the circles and epicycles of the older Ptolemaic and Copernican models. Copernicus was able to simplify the older model by placing the Sun at the centre instead of the Earth. Kepler in his new theory of 1609 retained Copernicus's idea of placing the Sun at the centre.
Galileo did not have his own theory. He was a supporter of Copernicus's heliocentric theory and an opponent of the geocentric Ptolemaic theory. Eventually both theories were rejected in favour of Kepler's theory. But Kepler's theory uses the heliocentric idea from Copernicus's theory.
Kepler disagreed with Copernicus on the shape of planetary orbits. Copernicus believed in circular orbits, while Kepler's observations led him to propose elliptical orbits. Kepler's laws of planetary motion refined and corrected some of the assumptions in Copernicus' heliocentric model.
Johannes Kepler, a German scientist, provided the mathematical framework and evidence to support Copernicus' heliocentric theory. Kepler's laws of planetary motion helped confirm that the Earth and other planets revolve around the sun.
Aristarchus of Samos