In his speech at the World Government Summit 2017 in Dubai a few days ago, Elon Musk seems to have clear ideas: a form of guaranteed universal income is absolutely necessary, or globalization and automation will seriously jeopardize all our social fabric and the sense itself that we attribute to our existence. Here is the transcript of his speech.
There will be less and less jobs in the world that robots can't do better than we do. I want to be clear: these are not things I wish to happen. Unfortunately, these are things that I think will probably happen: and if my predictions are correct, and probably are, we must carefully think about what to do. I believe that some kind of universal minimum income will become necessary. The production of goods and services will be very high: with automation there will be a real overabundance that will make many products really cheap. The question we must ask ourselves now is: how will people who attribute it to work find the meaning of life? If there is no need to work, what will the meaning of their life be? Will they feel useless? This is a much more serious problem than automation.
The whole chat (in English) is quite interesting, and goes through many themes covered by Elon Musk's activity, from space explorations to alternative transport.
You can find it at this address: https://www.youtube.com/watch?v=7Lre6GxiQUE