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Five main belt asteroids and one Trojan - selected mainly on the basis of their possible binary nature as deduced from light curve morphology - have been observed with the Fine Guidance Sensors (FGS#3 and FGSR#1) of the Hubble Space Telescope (HST). In this first paper we present the selection and observation strategy, data reduction and analysis. A careful analysis of the precision for derived parameters is also given. The HST/FGS proves to be valuable in determining asteroid sizes, shapes and spin axis orientations, and also to identify nearly-contact binary systems.

Asteroids observations with the Hubble Space Telescope FGS