It seems like these days you can't avoid the panic of complete automation. Gommies lose their shit when the topic comes up, and you hear the typical >muh 1% and >muh UBI. However, I think the future will play out differently. With technology comes reduction in the barriers to entry for ownership of the means of production. Ironically, this tenet of socialism is most achievable through capitalism.
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Case 1: Complete automation is insanely expensive, on the order of several million dollars. [I'd argue that we're about here.]
Result: Only companies large enough to enjoy the economies of scale can afford them, and only they benefit from them. Labor is still needed in small companies, or those that require a human touch (figuratively or literally), or those that change their product frequently in such a way that it is not feasible to fully automate. There is a panic about labor shortage and reduction in price but most people are able to find work somewhere.
Case 2: Automation is still expensive, but within the average first-world citizen's budget (about the price of a house).
Result: The automation market has matured to where if you can afford such a technology, you can put it to work somewhere at minimal risk. If you're to buy something this expensive, it must be robust; longevity for such a device is enough to all but guarantee a profit from it. Robotic ownership is now something akin to home ownership. You may ask a bank for a mortgage on a robot and you can either choose to rent it out to smaller companies or use it to produce something of value yourself. If you're making a comfortable profit, you may choose to buy insurance in case it breaks or is damaged in an accident. The labor it provides, which is mostly automated, allows you to pay off your expenses. You can sit on your ass and get paid. Full-time labor is relegated to the lower class, whom still find a shrinking niche in the manual labor described in case 1.
Case 3: Automation is affordable for everyone.
Result: Labor is pretty much not required for any human, and there is no shortage in the labor pool. Manual labor by humans is largely left to hobby/artistic endeavors or nostalgic businesses. Labor potential is every bit the commodity that ownership of natural resources is; just as one owns a piece of a forest that could create furniture or sculptures or flooring, one may own a fleet of robots that could turn the tree into these things or turn steel into any number of things and so on. Since labor is cheap, the marginal price of one man-hour of labor decreases. However, the cost of automation also is reduced through innovations in technology and supply chains so it falls to match.
The question is no longer "who owns the means of production?" but rather "who owns the resources of production?" The answer to this solution may come in off-world resource exploitation, at least at first. However, one must also consider that as energy becomes post-scarce, a sort of modern alchemy may form through which one could transmute non-valuable material into valuable. If you have a bunch of dirt and nearly infinite energy, why not fuse the carbon into iron, or gold, or any number of elements? Maybe you could even synthesize matter out of energy. Who knows? It's such a far future concept that the result is almost impossible to predict.
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The only thing that worries me is the transition between these periods. That's where things get messy. People have trouble imagining the new status quo.
How do you think it will play out?