Please help me track down an anime I saw as kid. Certainly I don't remember the title, but I remember some of the plot and what the characters looked like. It was a sci-fi. I remember it was about a princess (I presume she was) being abducted and our heroes travel on a space ship to rescue her. The main male protagonist was thin, wore blue jeans, green T-shirt, carried a knife, among the rest of the rescuers there were 2 other guys, one wearing glasses, grey trousers, white T-shirt, was extremely fearful. Also there was a fat guy who most likely wore a green T-shirt, very fearful too. Also they had a robot teammate accompanying them.
There was a scene where our rescuers reach something resembling a shaft, with blue walls. A descent into the cave. They start climb it down. As they look down, it’s descending into darkness, while when they look up, there’s a bright light above. Then they end up inside an underground cave.
The only villain I remember was the Cyclops in the cave, this one scared me a lot as a kid. I remember there's a part where the princess is shown chained in the cave and the Cyclops was sleeping beside her/guarding. As the heroes are walking the cave, Pink Floyd's "Time" is playing (I remember that part was very scary back then).
That's all I manage to remember, the easiest way to identify this would be the cyclops and Pink Floyd's "Time". It was a wonderful anime from what I remember.
Somebody please help me find this. I absolutely loved it as a kid.
Thanks in advance so much.