Robinson resigned from his role on Sunday following the 21-15 loss to Tonga, Scotland's 10th defeat in 13 matches, a run which includes the World Cup exit and a RBS 6 Nations whitewash.
Townsend was assistant to Robinson, as attack coach, until the end of the Six Nations, before he was this summer appointed Glasgow head coach in place of Sean Lineen. Townsend, who won 82 caps, told BBC Scotland: "My focus is firmly on Glasgow Warriors. I know I have a lot of work to do to improve as a coach."
He added: "I'm enjoying this opportunity and I'll give it as much as I can to make the team successful. I spoke to Andy on Sunday and he is comfortable with his decision and keen to get back into coaching.
"I worked with him for three years and learned so much from him. He's a fantastic coach and I know he put everything into the job with Scotland."
Following three years as Scotland attack coach, Townsend, who was initially appointed by Frank Hadden, was replaced by Scott Johnson, who could succeed Robinson as head coach, perhaps on an interim basis.
Johnson was part of the coaching team on the successful June tour, which featured wins in Australia, Fiji and Samoa, before Scotland lost to New Zealand, South Africa and Tonga in successive weeks this month.
Robinson departed maintaining Scotland have plenty of potential and Townsend concurs.
"It's disappointing that we were not able to kick on from the summer tour, but we are not far away," Townsend added. "We have some very good rugby players, but we have not been able to produce an 80-minute performance this autumn. We've been close to getting it right for a while.
"I was involved at the World Cup and we had two defeats in the last two or three minutes of games, against Argentina and England. We've been competitive, but we've not had the run of results the team is capable of. Whoever takes over will inherit a hard-working bunch of players that are desperate for success."