Your construal of the Sabbath as a burdening restriction that allows God to "have dominion over man" flatly contradicts the thought of the passage and the common Jewish attitude towards the Sabbath. As pointed out above, v. 27 ("Man was not made for the Sabbath's sake but the Sabbath for man's sake") reiterates the rabbinic principle that the Sabbath exists to serve man's needs (and not the other way around), as elsewhere expressed in Mekilta 109b on Exodus 31:14 and b. Yoma 85b: "The Sabbath is delivered to you [Israel], and not you into the hands of the Sabbath" (cf. 2 Maccabees 5:19). In both the very point is that the Sabbath should not be construed as dominating over man. The exact same principle ("Man not made for X's sake but X for man's sake") extends to man's dominion over the earth, as expressed in the literature of the time:
2 Baruch 14:18-19: "And you said that you would make for your world a son of man (br nsh', singular generic) as the manager of your works (cf. Genesis 1:28), to make it clear that he was not made for the world's sake, but the world was made for his sake. And now, I see that the world which was made for us, behold, it remains" (cf. the wording in Mark 2:27-28).
4 Ezra 6:54-55, 8:44: "Over all these you placed Adam, as ruler over all the works which you had made previously and from him we have all come, the people whom you have chosen. All this I have spoken before you, O Lord, because you have said that it was for our sake that you created the world....Man was formed by your hands and is called your own image because he is made like you, for whose sake you have formed all things".
In short, man was not created in order to observe the Sabbath but the Sabbath is a provision intended for man's benefit. The institution of the Sabbath in the creation narrative is explicitly described as a blessing (Genesis 2:3), and elsewhere it is said that it was given for the benefit of workers (Deuteronomy 5:14-16), not as a burden but as a "delight" and a cause for joy (Isaiah 58:13-14, Greek Life of Adam and Eve 43:3). It is on this day the Israelites were to eat, drink, be satisfied, and rest (Jubilees 2:21, 31; 50:9-10), and this privilege of leisure is a gift given by God to mankind (cf. Jubilees 2:19, Mekilta 109b on Exodus 31:14, b. Shabbat 199a, b. Pesah 68b), and is a foretaste of the world to come (Berakot 57b). The provision of the Sabbath was one of the most attractive features of traditional Judaism for Gentiles wishing to convert to Judaism and it was often imitated by them (Josephus, Contra Apionem 2.39, Philo, De Vita Mosis 2.137). Gentiles may have sacrificial festivals to their gods for a handful of times a year but otherwise ordinary people had to work everyday, and those without privilege or status were often worked without rest by their superiors. The kind of rest and leisure that landowners and the wealthy took for granted was not shared by ordinary folk. But in the case of Jews a day off was mandated for each and every week, giving the ordinary people (down to servants and slaves) a measure of leisure that elsewhere only the elite enjoyed. It was for this reason that some Greeks and Romans denigrated the Jews as "lazy", giving so much idle time to laborers.
It is thus somewhat ironic that a provision for rest and leisure could be viewed as a burden. This is where a distinction between the provision of the day itself and its legislation should be made. The provision of the Sabbath is subject to legislation, just as the provision of animals for food was subject to divine legislation. If one loses sight of the fact that the day was made for man's benefit, then one could demand that Sabbath observance supersedes any human need. The Pharisees were split on this question. The school of Shammai was almost draconian in its Sabbath observance, forbidding even swatting a fly, or giving consolation to the sick, or visiting those in mourning, whereas the school of Hillel observed the dictum summarized in Mark 2:27, that the Sabbath was made for man's sake and not the other way around. In the Sabbath controversies in Mark 2-3, Jesus sides with the school of Hillel over against the Pharisees of the school of Shammai. And though man was made master and ruler over all living things (Genesis 1:28, Psalm 8:4-8), this doesn't mean that he could do as he pleases, he is still subject to divine law; it is the same in the case of the Sabbath. Nor does Genesis 1:28 mean that man was made absolute master over the animals, even though the word kurios in its verbal form is used with respect to mankind. The use of kurios in Mark 2:28 in informed by what is said in the previous verse; man is master (kurios) in the sense that the Sabbath exists to serve, help, and give leisure to man, just as a servant would to his master. The Sabbath is made for man's sake, for man's benefit.