The fact is that things have gotten better for the some of the POOREST people in the world over the past 50 years. They have benefited from improved meds, better food, cheap telecom, etc. And unless there is some major screwup, things will probably get _better_ for them, not worse. Just compare the unemployed in the US today with the unemployed in the Great Depression. Do we have large herds of unemployed moving out to California to become migrant farm workers? No. Do we have them all turning into servants for the rich? No.
People will not be replaced by robots as long as human+robot is more productive than robots alone. This is true for many jobs today and it will continue to be true for many jobs in the future.
If you think of things on a super-long timescale, then we're eventually going to hit intelligence enhancements. And then things are going to get really exciting.