If you look at the inner cities and rural areas with high unemployment, you don't get people happily tending families and gardens and enjoying a vacation. You get high crime, illegitimacy, non-profits begging people who work to volunteer, too, to pick up trash and help the poor.
Especially for the poor/working class, work is not an imposition - it is a way to contribute to society, be socially engaged, find meaning and self-definition. And it is why we need to resist an elitist assumption that everyone will be happier without work - look at the unemployed students and young adults turned activist ripping apart the West right now.
Socialism and "entitlements" make people self-centered instead of social, and it is bad for society.
Let robots reduce the risk to people in the dangerous jobs and improve productivity in some areas, but don't assume that 2% working with 98% on welfare is anything but a recipe for the government oppression of the teaming, useless masses.