"Milankovitch cycles describe the collective effects of changes in the Earth's movements on its climate over thousands of years. The phenomenon is named after the Serbian geophysicist and astronomer Milutin Milanković. [...] variations in eccentricity, axial tilt, and precession combined to result in cyclical variations in the intra-annual and latitudinal distribution of solar radiation at the Earth's surface, and that this orbital forcing strongly influenced the Earth's climatic patterns.

The Earth's rotation around its axis, and revolution around the Sun, evolve over time due to gravitational interactions with other bodies in the Solar System. The variations are complex, but a few cycles are dominant."

https://en.wikipedia.org/wiki/Milankovitch_cycles