The Brazilian, who has made just 18 league appearances this season, was on the brink of a move back to his boyhood club Santos in January before deciding to stay at the last minute.
Some reports suggest that the Brazilian side will return for the 29-year-old in the summer, but he said that he wants to stay with the Rossoneri.
"January was a difficult time for me, but now that feeling has passed," Robinho told Gazzetta Dello Sport. "I'm very happy at AC Milan, I'm getting into shape and I want a fresh start here.
"I clarified with [Adriano] Galliani (Milan vice-president) that it was family matter and not a football issue. I keep hearing that I should move back to Brazil come June, but I don't think I will.
"Santos tried to take me, but I never asked to be transferred. I spoke with my family and together we decided to stay here."
Robinho's current deal expires next year and he said that wants to sit down for talks to extend the agreement.
"Extending my contract? Sure, we will talk about it at the end of the season," he added. "I can assure you that these six matches will not be my last at the Rossoneri.
"When I came to Milan I told them I wanted to stay 10 years. I am still missing seven."
Robinho joined Diavolo from Manchester City in 2010.