Both Dons teams drew their ties at Cambridge City and York respectively at the weekend and will meet in the second round at stadium:mk should they come through their replays.
There has been animosity between the two sets of supporters since MK Dons were established in 2004 as a result of Wimbledon's relocation to Milton Keynes the previous year.
The Wimbledon supporters who strongly opposed this move reacted by founding their own club - AFC Wimbledon - and entered the Premier Division of the Combined Counties League, which is the ninth tier in English football.
"When you take stock, there's an awful lot of water to pass under the bridge between now and then," Robinson told the Milton Keynes Citizen. "It's a tie I want. It needs to happen. I was made up when the draw came out and I did a little dance around the living room in excitement! We're just hoping that, if it does happen, it'll be on TV so we get some money too. But we'll have to wait and see."
MK Dons chairman Pete Winkelman added: "This could potentially be a fantastic tie in the FA Cup and no doubt one that the whole of the football world will be watching."