The NSW captain had a starring role in his side's win over Queensland in the third and final game of the series on Wednesday night, but will sit out the SCG clash.
Robinson said that Joey Manu will start at fullback in place of Tedesco, as the Roosters look to reverse a 28-8 loss to the Storm back in round six.
Maroons prop Lindsay Collins will back up from Origin.
"Lindsay will, Ted (Tedesco) won't," Robinson said on Friday morning.
"It's been a big few months there for Ted so it's been planned for quite a few weeks that he was going to rest this week."
Robinson said he made the call on the 30-year-old, with a mix of physical and mental reasoning behind the decision.
"Origin is a big beast and I've done it (rested the player) quite a bit in the past to Ted and to other players and so it was time to give him a rest this week," the coach said.
"It wasn't a decision based on this week, it was made a few weeks ago to give him that time off because it accumulates ... he will come back and go hard again for the last seven rounds."
It's a key match for the Tricolours who sit in 13th spot, although only two points outside the top eight in a crowded ladder.
Melbourne are currently fourth.
While Tedesco has been sidelined the Roosters have former Storm star hooker Brandon Smith returning from a broken thumb via the bench.
Winger Joseph-Aukuso Suaalii and centre Billy Smith have both overcome concussion symptoms to be named in the starting side.
Robinson said he was looking for Brandon Smith to make an "impact" against his old team.
"He's worked really hard on his game and on the style we want him play but we expect him to come on and be himself and add that physicality."
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