Friends and family will say their goodbyes to later Friday.
A viewing will be held at Ponce Funeral Home in East New York starting at 3 p.m.
The viewing and funeral services are open to the public.
Robinson, 27, is to be laid to rest a day before his mother and other family members with Rev. Al Sharpton to call for increased scrutiny into the events that led up to his death on April 18.
Almost a week earlier, Robinson had been hit by a police car at Bayview Houses in Canarsie after officers caught him taking paving stones from a section of the public housing project.
An investigation by the Brooklyn District Attorney's office, including the interviewing of witnesses of the April 12 incident, is continuing.
Robinson's family retained the services of Brooklyn defense attorney Sanford Rubenstein, who is also expected to attend Saturday's NAN event in Harlem.
Ponce Funeral Home is located at 2715 Atlantic Ave. between Wynona and Vermont streets.