Starchaser: The Legend of Orin (DVD)

Deep within a subterranean Mine-World, a tribe of humans forced into a grim life of servitude by malevolent overlord Zygon knows nothing of the surface world or of hope... until a brave young boy named Orin discovers a sword with mysterious powers that only he can unlock! After escaping the Mine-World with his weapon, Orin teams with rogue smuggler Dagg, a beautiful princess and some trusty robots on an intergalactic mission to free his enslaved people and defeat the evil Zygon.