Movie Identification- 70's or 80's space prison escape movie

Saw this on TV sometime in the 80's. It's basically Escape From Alcatraz set in a space prison, definitely made in the 70's or early 80's. There's a small group of prisoners plotting and preparing to escape. The prison has pleasure robots for the inmates that say things like "I like to please you!" and they reprogram one of them in the breakout attempt. I can find no trace of this film anywhere. Thanks for any help.