Thing is, "currently the wealthy take 95+% of the wealth they create" is an accurate description of the dynamics in pretty much any industry, in pretty much no business has so extreme margins, probably not even if you're digging out gold and diamonds with slave labor. Even in industries where the largest value added is IP and branding (e.g. Apple), so direct expenses are comparably low, you get margins like 40%, and those are the winner-take-all economy-of-scale industries where worker collectives can't plausibly ever compete.

If the margins in a "wealthy-class-run" company are 20% and they take it all out as profit; then a competing worker collective that's 20% less efficient would have a margin of 0 and no profit whatsoever and no ability to pay their workers more. You can run a labor-heavy shop as a collective (e.g. fast food has had some successes) but anything relating to manufacturing seems just wishful thinking.

Your example of commodity robotics would bring the per-item robot cost down, but that that would make the whole industry much more capital intensive - if robots are expensive, then there's more labor and less robots; if robots are cheap, then you replace more workers with robots and the percentage of capital vs labor shifts to capital. If robots are expensive, then a less automated workshop can compete price-wise with a large, more automated factory. If robots are cheap, then the large factories that get economies of scale on configuring and integrating these robots simply drive down the cost of end product so much that any smaller shop can't compete at all. No matter how cheap robots are, the worker collective can't afford to build as large and as automated factories that the wealthy capitalists can.

A separate point is that if cheap commodity robots would enable worker collectives to run a just as automated operation, then it's impossible for most people who leave their "overlords" to join those collectives - if an industry now has 100000 employees; and because of arrival of very cheap commodity robots the results can get done with 10000 employees, then it doesn't matter much if that revenue gets taken by a capitalist employing 10000 laborers; a worker collective of 10000 people; or 5000 / 5000 in tight competition... then it doesn't matter because 90000 people have to leave the industry anyway, even the worker collectives have no need for them.

Let's use self-driving taxis as an example of automation. Let's assume that some time in the future, cheap commodity "robots" driving cars enable automation for most of taxi driving. In the "capitalist overlord" scenario, Uber runs and manages self-driving taxis. In the "workers collective" scenario, a bunch of current taxi drivers form a collective, buy "commodity robots" i.e. hardware that makes their cars self-driving (to have comparable efficiency/price with competitors) and run and manage a company that competes with Uber... but they won't drive taxis anyway, they're maintaining and managing a self-driving-taxi company that doesn't need much if any actual drivers. Now what's the practical difference between them forming a "workers collective" versus them buying shares in any other self-driving taxi company? In both cases they're the owners, but not the workers, because their work has been made obsolete by automation. In both cases they get their income as rent on their capital, not wages for their labor; at least not most of them. If they can't afford to buy the shares, then they can't afford the capital investment to start an equivalent competing company, those should be pretty much the same amounts.