The Lions will run out at St Mary's on August 8, a ground which provides mixed memories for centre-half Robinson.
"They have got a great stadium and I'm really looking forward to starting the season there," he told the club's official website.
"I have had good and bad experiences of playing at St Mary's, so hopefully that will be a good one.
"I had a great day there when I had just broken into the first team. It was an FA Cup tie and I played against James Beattie in the week he was called up to the England squad.
"That was an enjoyable day, but I do have bittersweet memories of playing there. We got relegated at that ground too, so it's a great opportunity to go back and put that right."