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An Earth exploratory ship, the USS Palomino, discovers a black hole with a lost ship, the USS Cygnus, just outside its event horizon. Setting off to solve the mystery of the Cygnus are: the Palomino's Captain, Dan Holland (Forster); his First Officer, Lieutenant Charlie Pizer (Bottoms); journalist Harry Booth (Borgnine); ESP-sensitive scientist Dr. Kate McCrae (Mimieux); Dr. Alex Durant (Perkins), the expedition's civilian leader; and the robot V.I.N.CENT. The Palomino attempts a dangerous fly-by of the darkened ship. As they come within close range of it, the buffeting they experience due to the black hole's gravity suddenly ceases. They bring more instruments to bear on the derelict, but do not realize the gravity-free zone is artificial; slipping outside it, they are almost drawn into the hole.
V.I.N.CENT goes EVA to secure an outboard door that has been compromised. While outside, the ship loses radio contact with V.I.N.CENT. It is revealed that Kate has a cybernetic module implanted in her brain which allows her to telepathically communicate with V.I.N.CENT. This method is used to confirm that V.I.N.CENT is functional. Meanwhile, the human crew members fight to keep the Palomino from falling into the hole. They finally regain control of their ship, but discover that their oxygen-recycling system is damaged and needs replacement parts; otherwise, they will all suffocate long before reaching Earth again.
As they pass the Cygnus once more, the ship lights up with sudden illumination. Though the crew of the Palomino does not know who is aboard, they dock and board the ship. They find a crew of humanoid, faceless robots, then meet the ship's Commander, Doctor Hans Reinhardt (Schell), a prominent scientist last seen twenty years ago. Reinhardt also commands an army of robot sentries, based on S.T.A.R. (Special Troops/Arms Regiment), and the hulking, ominous, mute Maximillian.
Reinhardt reveals to the Palomino crew his most ambitious project, for which he has prepared for the last 20 years: to steer the Cygnus into the black hole and explore beyond. While most of the crew react with incredulity and skepticism upon this announcement, Durant reacts with enthusiasm and is even willing to accompany Reinhardt into the black hole.
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