And when have we not? When in history has mankind ever treated the idle poor well? What makes this age different, that we who can no longer work would be taken care of?
Well we're animals and "domesticated" is synonymous with "civilized", so no problem there. And I can't see why anyone would make themselves a "nuisance" when literally all their needs - and most of their desires - are being met, so whatever outcome you're referring to is extremely unlikely.
If AI and robots are able to do all the jobs, being idle isn't the negative it has always been.
All through history, you needed lots of non-idle people to do all the work that needed to be done. This is a new situation we are coming upon.