Ms Robinson said: “For the last seven years, it is a visit that Prince Harry has done.
“It is now a role that Camilla has taken over from him as he has stepped back from being a working member of the Royal Family.
“We know that when he left one of the hardest things for him to walk away from were his military commitments that mean so much to Prince Harry.”
The Duke of Sussex marked Remembrance Sunday by taking part in a podcast from the US.
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Prince Harry spoke to Declassified about the honour of serving one’s country.
He said: “Being able to wear my uniform, being able to stand up in service of one’s country, these are among the greatest honours there are in life.
“To me, the uniform is a symbol of something much bigger, it’s symbolic of our commitment to protecting our country, as well as protecting our values.
“These values are put in action through service, and service is what happens in the quiet and in the chaos.”
On Sunday, Camilla, Duchess of Cornwall, watched the Remembrance Sunday service alongside Kate.
She watched her husband Prince Charles and Prince William lay wreaths on behalf of the Royal Family at the Cenotaph in Whitehall.
Queen Elizabeth II stood separately on another balcony as she led the nation in two minutes of silence to mark the end of World War 1.
Prince Harry and Prince Andrew were noticeably absent having stepped down from Royal Family duties.