Robinson was recalled to the England squad to play South Africa.
He hasn't played a Test since January.
Jamie Overton has been ruled out with injury and will be replaced by Robinson.
The first Test will be held at Lord's.
With Ben Foakes fit to return behind the stumps, there was only one change from the squad that won against India in July.
Robinson had a good debut year in Test cricket, taking 39 wickets in 9 matches at an average of 21.28.
Robinson was told to improve his fitness by Jon Lewis during his last match for England.
He missed all of the three Tests against the West Indies in March due to a back problem, as well as the beginning of the home summer due to various fitness issues.
Robinson had an injection in his back in June and returned to action after more than two months out.
He will return to action for the England Lions against South Africa in a four-day match at Canterbury next week, after which his fitness will be assessed.
In Robinson's absence, Matthew Potts excelled in England's victory against New Zealand and India.
Prior to those four wins, England had not won a match in 18 months.
They are hoping to win five Tests in a row.
South Africa is the leader of the World Test Championship table, having lost only one series in the past six.
They've lost their last three series against England.
The dates for the T20 series in Pakistan have been confirmed.
After the final Test against South Africa is over, the first match will take place in Pakistan.
There are three more games in Karachi on 22, 23 and 25 September and three more in Lahore on 28 and 30 September.
At the end of the year, there will be a three-Test series.
The England squad for the first two Tests against South Africa will be named on Thursday.
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