But I do agree that the speed of the change this time makes the transition period far more dangerous. I think the biggest hurdle is that culture itself will need to change. People have been taught to judge their own worth based on how hard they work. That makes this transition an identity threat, which is even worse than an economic one.
If we can get through the transition period without a horrible war, I am highly confident we will see an economy that's as much beyond ours as ours is beyond 1817. It's very hard to say it will look like (any more than farmers in 1817 could have predicted how I make my living writing software). But as long as there are unmet needs and desires, there is work to be done. And as long as some things are scarce (attention and social prestige seem fundamentally scarce), there will be economies.
Another way to put it is: if most people can access the output of the robot factories, then they won't be poor. If most people can't access the output of the robot factories, then they constitute a big market and there will be plenty of jobs serving each other.