The forward made known his desire to play for Chelsea after the club's sporting director Frank Arnesen was reported to have met his agent Ribeiro in June, once it was announced Scolari would be taking charge of the Blues.
At the time Real were said to have wanted to sell Robinho in order to help fund a bid for Manchester United's Cristiano Ronaldo, which reportedly upset Robinho.
But the diminutive Brazilian then also revealed his desire to play for the new Blues coach.
"It would be a dream for me to work with Luiz Felipe Scolari, who is one of the best coaches in the world," he said.
"I have always spoken highly of him and he has always spoken very highly of me, since well before he was at Chelsea."
However, with United refusing to sell Ronaldo, Real were then forced to try to hang on to Robinho, who scored 11 goals in 32 games to help them to the league title last season.
I hope the directors reach an agreement with Chelsea to resolve my situation as quickly as possible
But after refusing to release him to play for Brazil at the Olympics, Robinho once again reiterated his longing to leave the Bernabeu.
"I want to leave and I have got the character to tell the press that I'm not aiming to stay at Real," he said.
"It isn't because of money, it is simply because I want to leave. My personal aim is to be the best player in the world and that isn't going to be possible at Real Madrid.
"I've played three seasons at Real Madrid and have given everything.
"I think my period at Real Madrid has come to an end. I hope the directors reach an agreement with Chelsea to resolve my situation as quickly as possible."
The Primera Liga club eventually changed their tack last week by issuing a statement declaring they would not keep Robinho "against his wishes".
"As a result we have no alternative but to accept his unilateral decision to rescind his contract," the statement added.
This page is best viewed in an up-to-date web browser with style sheets (CSS) enabled. While you will be able to view the content of this page in your current browser, you will not be able to get the full visual experience. Please consider upgrading your browser software or enabling style sheets (CSS) if you are able to do so.