"I know one or two of the squad here from my playing days and I am really looking forward to working with them. Hopefully we can hit the ground running.
"We have to get points on the board quickly. We are playing catch-up and our season starts now."
Robins takes his backroom staff - assistant boss John Breckin, first-team coach Steve Taylor and goalkeeping coach Nick Daws with him to Oakwell.
He replaces Simon Davey, who left the Tykes on 29 August after they took just one point from their first five Championship matches.
Robins took over at Rotherham, who lead League Two on goal difference, in March 2007.
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