Yes. But it will be an economy for people with skills, education, and/or a certain level of ability. Low skilled jobs that don't require extensive education or abilities will be automated.Automation reduces the price of goods making more money available for consumers to spend on other things. These other things are, literally, the definition of a growing economy. There is no evidence that the economy would not continue to do this, which is what it has always done.
Not everyone have the ability or the time/money to get a degree in computer science or STEM, especially with our expensive university system. That's why UBI, job retraining, making education affordable, etc will be necessary in the future when those low skilled jobs are gone.