Jacobsen, who turned 30 this week, made his debut for Edinburgh against the touring ACT Brumbies in November 1997 and signed a professional contract prior to the 1999/2000 season.
Robinson said: "It is a tremendous achievement and one that Allan can be really proud of.
"From my experience of working with Allan over the past year, the aspects that have really stood out have been his work ethic and attitude.
"He rolls his sleeves up and leads from the front. His experience has also proved really valuable in such a relatively young team."