As much as I think a robot tax looks to be one of very few possible ways to improve current situation, I also agree with you that the whole thing isn't well-explained or argued for. It does sound like this: "government vacuums even more money but 10 years later, people still live under bridges or in slums". Sadly, knowing the average politician's thought process, the odds of us ending with an economic inequality shifted from corporations to governments is extremely likely. We the people are greedy no matter what positions we occupy...
> "Let the robots do the work and we'll take their pay."
I like that a lot, actually. It's a much better idea. Robot goes to work in my name sake, I get money wired in my account and I get the final say in what does the robot do and when. The reliability of the transaction hinges on economical interest (I want the robot to work with a stable schedule N hours a day because that makes me money).
Really neat idea.