Starchaser: The Legend of Orin

In this animated film, Orin (Joe Colligan) is a slave working in the subterranean mines near a planet's molten core, watched and prodded by his robot overlords. After he finds a powerful sword embedded in the ore, he makes his way to the surface, where he encounters cynical pilot Dagg and Princess Aviana. The three traverse the galaxy along with their faithful android companions, doing battle with the minions of the despotic Zygon, who seeks to enslave all of humanity.