Parks picked up the man of the match award in Scotland's final World Cup defeat to England but he informed his coach of his thoughts on walking away from the Test arena prior to the start of the 6 Nations.
But with Ruaridh Jackson struggling with injury and Scotland lacking other experienced No10s, Robinson requested that the Australian-born star commit to two more matches in Scottish colours.
"At the beginning of this championship I was speaking to Dan about the future and about retiring," said Robinson.
"Also about the injury to Ruaridh Jackson and the 10s that we had that hadn't played a lot of rugby at 10 and I asked him to be involved in the first two games.
"I picked him for Saturday because I believed that with Dan in the side, we could play the way we wanted to play the game.
"Through us not winning and the way that Greig (Laidlaw) came on and played and the way Duncan (Weir) played for the A team and the confidence he had, I made a decision on Sunday night and Monday morning and spoke to Dan on Monday evening.
"It was a game early for him but the right thing for us after losing that first game."
Robinson has come in for criticism for the manner in which Parks' retirement has been handled, however, with former Lions boss Jim Telfer speaking out against the Englishman.
Telfer, who coached the Lions in 1983 and was Sir Ian McGeechan's assistant in 1997, believes Parks has been made a scapegoat for Saturday's 13-6 defeat to the Auld Enemy.
"Robinson said it was the right time to go, and I think he's a bit culpable on that. He stood by him before, and he hasn't stood by him now," Telfer told the BBC.
"When they picked him last Thursday, Robinson said 'he's my man' - three days later, he's not and he says he's quite right to go.
"I feel very sorry for him, because he's been a great servant to Scottish rugby."