Hey Funky,
It is absolutely possible to use 1P and 2P joys for Robotron. Question, do you use MAME on a computer? If you do, start a game. From there, press TAB and then select Input (this game). Here, you can scroll down to a function select it by pressing ENTER and then either click the button or move the joystick to assign that 'key' to that function.
When doing so in Robotron, you'll see options such as :
1 Player Start
2 Players Start
Coin 1
Coin 2
P1 Right/Up
P1 Right/Down
P1 Right/Left
P1 Right/Right
P1 Left/Up
P1 Left/Down
P1 Left/Left
P1 Left/Right
If you have two joysticks on your Control panel, it really doesn't matter how they are wired. You simply assign them by selecting the function in the list, and then moving the joy stick in that direction. Make sense? It's much, much easier than you might think.
Your biggest concern when selecting an IPAC is the number of inputs.
An IPAC2 can handle 32 inputs.
An IPAC4 can handle 56 inputs.
Each joystick will have 4 inputs. Each button is 1 input. (If you are looking at a joystick with any buttons or triggers, you'll need to account for those as well.)
If you are indeed proposing 2 joysticks and 6 buttons per player, you are already up to 28 inputs. You'll then most likely want coin buttons, 1P start, 2P start and maybe even some admin buttons (Pause, Exit)
Do the math...you might be good to grab an IPAC4.
Hope this helps.
HanoiBoi