1. A method for preventing deadlock of a pair of robots which have a common workspace, each of the robots being controlled by an associated program wherein when the programs are executed concurrently to generate normal program motion each of the robots occupies at least a portion of the common workspace during a portion of execution of the associated program, said method comprising the steps of: prior to the normal program motion, determining portions of the common workspace occupied by the robots by initial operation in a lockdown mode or an offline run according to the programs including representing the occupied portions of the common workspace with voxel models; determining at least one interference region wherein the portions of the common workspace occupied by the robots overlap by comparing the voxel models to determine the at least one interference region; analyzing the at least one interference region and determining where at least one deadlock condition of the two robots can occur; and avoiding the at least one deadlock condition during execution of the programs in the normal program motion by automatically determining a mechanism to avoid the at least one deadlock condition and associating the mechanism with at least one of the programs before execution of the programs in the normal program motion.