The Octant — Charles G. Dyer

Previously published as The Octant, this story has now been revised and is Part 4 of the Octant Chronicles.
The inhabitants of the Octant are human and the androids who created them. Being what they are, the humans turned on their android saviours and made slaves of them. A group of disgruntled androids have had enough. They enlist the help of a human woman.
In an exciting adventure full of surprises, they plan their escape. In addition to the hazards of space, they have to contend with pirates.