Baldock came through the Dons' youth ranks and made over 100 appearances for the club before leaving to join West Ham in the summer of 2011.
His departure upset some supporters but Robinson remains a huge admirer of the forward and hopes he gets the "respect he deserves" when he returns for Saturday's League One encounter against Bristol City.
"Sam Baldock is an absolute icon at this club," Robinson told reporters ahead of the match.
"He could have gone once or twice but he knew the money wasn't right and once we felt it was right he helped us get the fee we got.
"He's a friend of mine, I still speak to him regularly, and he's a friend of the football club. It'll be a pleasure and an honour to play against a side that he will be captain of.
"I very rarely come out and ask this but please give him the applause and respect that he deserves before the game kicks off because he never once stitched this club up.
"Once the game starts he becomes our enemy and we want to win the game regardless of whether Sam is there or not, but before and after the game I'm asking the fans to give him the respect he deserves."