BIO Space Sciences
Spectators cheered in Kagoshima as well as at a public viewing site in Tokyo.
More than 900 people who gathered at the Tokyo event clapped and took photos with cellphones as a huge screen showed the rocket lift off in a cloud of white smoke and orange flame.
The three-stage Epsilon -- 24 metres (79-feet) long and weighing 91 tonnes -- released the "SPRINT-A" telescope at an altitude of about 1,000 kilometres (620 miles) as scheduled, JAXA said.
SPRINT-A is the world's first space telescope for remote observation of planets including Venus, Mars and Jupiter from its orbit around Earth, according to the agency.