Great challenges in real-time robust control have been put forward in asteroid exploration in recent years. To deal with the complicated environment full of uncertainties and to satisfy the position as well as attitude requirements of the mission, a convex approach is proposed for stochastic six-degree-of-freedom (six-DOF) trajectories near asteroids. A stochastic six-DOF dynamic model based on modified Rodrigues parameters is built with covariance control and feedback control. Integrated path c