I highly doubt it. Even if we get over all of the technological hurdles, there are certain areas where a customer is always going to prefer the work done by humans. Many areas of entertainment fall into this category: for example, I enjoy watching sports, but it loses its attraction once the human element is taken away and the players are replaced by AIs, even if those AIs can play the sport at a level far superior to the top human players. Ultimately, a football match between two teams of AIs would amount to little more than a technology demo: it would be amazing the first time I saw it, but after seeing two or three it would become 'normal'. It's a similar story with art: the sense of awe at the imagination of our most creative human beings has much more staying power than the sense of awe at the output of some computer algorithm, even a highly sophisticated one.
Of course, we can't all be sportspeople or artists, and a great many of our jobs can be taken over by robots one day. At this point, I can see people's working hours being progressively cut, and their income being correspondingly reduced. However, with labour costs being so much lower, I'd also expect prices to be lowered for everything across the board. Furthermore, with these robots generating so much wealth themselves, perhaps the Universal Basic Income would become an economically viable policy at this point, so that even those who don't have jobs wouldn't be living in poverty.