Barcelona are widely regarded as the best team in the world at present, and have won the Champions League twice in the last three seasons.
Despite Milan being the reigning Serie A champions, many believe the Rossoneri have no chance of claiming a result at the Nou Camp next Tuesday, but Robinho begs to differ.
"We all want to go to Camp Nou to play, and I am convinced that Milan have the quality to win the game," Robinho told Milan Channel.
Furthermore, Robinho believes facing a tough test in the opening group can actual be beneficial for Milan.
"It is best to start our Champions League campaign against a tough team like Barcelona, rather than begin with an easy team."
BATE Borisov and Viktoria Plzen make up the rest of Group H.