The problem with most arguments against taxes on robots is that they assume that automation via robot is the same as automation via a non-robot. The big difference here is that robots can be used to build robots with little human interaction, in a sense robots are a another species of worker that is able to propagate. Even if you argue that it still takes humans to build robots, the number it takes to build a robots will decrease over time since automation of any task involved in building a robot is already a goal.
The advent of computers, or spreadsheets, did not entail the same scope of human labor replacement as that of the proliferation of robots. At the time of their introduction there were labor needs that could absorb the excess worker population. Granted it was a downward movement for a segment of that population, as in for the bulk of that excess worker pool the amount of physical labor required to do the job went up. This was driven by the fact that the new technology jobs that were created required fewer people than the jobs that the technology was replacing.
Then there came globalization. Globalization was essentially the employer looking for robots but not finding them. The next best thing was to find cheap 'human' labor someplace else. This is pretty much a natural process, it just moves the jobs from one pool of high labor cost to one of low labor cost. It doesn't remove the jobs, there are still humans working the jobs. So now that we've moved the jobs that can be moved to the cheapest human labor pool, the only place to go for cheaper labor is robots.
So we are back to an excess of population. Too many people for the jobs remaining. Too many people making more people. What to do?
Some of the newly unemployed people and the new unemployable people being born will go onto figure out new ways of making money but the bulk of them won't. With fewer people working fewer people will make money. Ditto on the people spending money. It won't matter how cheap it is to make a product if nobody has the money to buy it.
But does that mean they, the governments, are going to tax robots?
No, it does not.
There is still a sufficient population of working people to pay for the products that the robots make. There are still service jobs that are easier done by people than robots. There are still people that can be taxed. The people making the rules today are the same type of people that look at a resource that seems to be endless, and assume that it is. That is how they see consumers, an endless supply of consumers to buy their products. Consumers are different than workers because consumers represent income whereas workers represent cost. It could be summed up as "As long as somebody else has workers I will have consumers so I will do what I can to get rid of my workers."
Eventually there will be no workers to buy the products in sufficient quantity to support the economy.
Maybe there will be space colonies by then.