Furthermore, the idea that we went through a number of such changes and this one is all the same is merely wishful thinking. Economy exists because humans divide work. Why do we work? To fulfill our needs, you know, stuff like not being thirsty, hungry, having shelter, being healthy, having some entertainment, this kinda stuff. The more we automate all these things, the less humans are involved, and following that it means the economy will shrink. As said: humans divide work, or more correctly: Their time, which is the ultimate currency in this whole thing. It is only during the phase of ramping up the automation that we need to do more than for our needs: We have to have additional economy and thus work to make the automation happen.
Following that it is clear that a basic income people can actually live from MUST happen during the transition phase towards "full" automation, not after. Even more so with the system as it is currently, because no work means no income, and if the government doesn't keep people alive, you can just wait for civil war to happen, and before that a big raise in all kinds of crimes. There are more than enough examples of that out there, some of them pretty recent.