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Copernicus published this book right before his death, and he said that the sun is at the center of the universe, and argued that the Earth moved across the heavens as one of the planets.
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Kelper published 3 laws and those are The Law of Orbits, The Law of Areas, and The Law of Periods
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Ptolemy believed that the heavenly bodies circular motions were caused by them being attached to unseen revolving solid spheres. When Copernicus proposed a heliocentric model with the Earth and planets all orbiting the Sun he was compelled to abandon the notion that there is no empty space between the spheres.
