The first voyage of James Cook was a combined Royal Navy and Royal Society expedition to the south Pacific Ocean aboard HMS Endeavour, from 1768 to 1771. It was the first of three Pacific voyages of which James Cook was the commander. The aims of this first expedition were to observe the 1769 transit of Venus across the Sun, and to seek evidence of the postulated Terra Australis Incognita or.. The royal navy research vessel the Endeavour allowed for one of the most celebrated voyages in history, in which Captain James Cook was credited for discovery of New Zealand and Australia (Finnis, 109).The general consensus after extensive scholarly debate is that the original intention of the voyage was astronomical (Finnis, 63).

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First Voyage of Captain James Cook. (1768 - 1771) James Cook's first voyage circumnavigated the globe in the ship Endeavour, giving the botanists Joseph Banks and Daniel Solander the opportunity to collect plants from previously unexplored habitats. Although the Endeavour voyage was officially a journey to Tahiti to observe the 1769 transit.. The route of Cook's first voyage. The first voyage of James Cook was a combined Royal Navy and Royal Society expedition to the south Pacific Ocean aboard HMS Endeavour, from 1768 to 1771.It was the first of three Pacific voyages of which James Cook was the commander. The aims of this first expedition were to observe the 1769 transit of Venus across the Sun (3-4 June that year), and to seek.