Of course, two major problems here. First, the government, for obvious reasons, and second, the corporations that have a stronghold on the government. If the government did it's job, it would simply be re-funneling money where it needs to go; to pay for education, social services, safety, and so on. And if corporations didn't have their way, they wouldn't be able to twist laws and regulations in ways to maximize profit and avoid taxes, because that's precisely what taxes are designed to do -- cut profits.
But if history can teach us anything, it's that even when manufacturing jobs were shipped overseas and call center jobs were shipped and agricultural labor jobs were swept by undocumented immigrants, the government here didn't do much of anything, and the businesses got their way with increased profits. In turn, our labor force got displaced, but we survived because ultimately people find a way to make money.
Every non-government job is created by an entrepreneur, either directly, indirectly, or down the line. Entrepreneurship is really what has driven America. Many will take that over government and taxation (solving the two major problems outlined above), and this is the free market argument in a nutshell.
The takeaway is, if we tax robotic labor, they'd be working for us, the people. Just as anyone paying 15% in income tax is working 2 months out of the year for the USA. Or we could hustle it out and have everyone desperately seek work to save their lives. Our choice. One leads to greater inequality.