Published Wednesday, 13 June 2012
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The monarch will be in Northern Ireland for a two-day visit later this month as part of celebrations to mark the Diamond Jubilee.
Sinn Féin has said it currently does not have a "doable proposition" for one of its members to meet the Queen, adding it would be a "huge ask for any Irish republican".
Mr Robinson weighed in on the matter on Wednesday.
He said such a move would also be difficult for the Queen, whose cousin Lord Mounbatten was killed in an IRA explosion off the Co Sligo coast in 1979.
But the DUP leader added that there should be a recognition of the two traditions of NI, pointing out that he went to a Catholic church and GAA matches in a bid to reach out.
Behind the scenes negotiations will continue. My sources say agreement on the historic meeting is still not over the line but there remains optimism it can take place.
UTV's Political Editor Ken Reid
"There are obviously difficulties for republicans in meeting the Queen, but it allows them to show respect to the other tradition in Northern Ireland," Mr Robinson told UTV.
"I don't think we should under-estimate the real difficulties Her Majesty will have, given the family murder. But I really do hope we can move forward as a society."
Sinn Féin refused to meet the Queen during her trip to the Republic of Ireland last year, which they said was premature.
However the Mayor of Cashel, Co Tipperary - Michael Browne - raised eyebrows when he became the first party member to shake her hand.
During the landmark four-day visit last year, the Queen spoke of her sadness at the "heartache, turbulence and loss" shared by Britain and Ireland in a speech at Dublin Castle.
She said: "These events have touched us all, many of us personally, and are a painful legacy."
There has been speculation that a historic handshake could take place during the upcoming visit, with SF president Gerry Adams refusing to rule it out.
However when a Jubilee celebration on the grounds of Stormont was announced last week, the party said it was surprised and claimed it had not been consulted.
Mr Robinson was not prepared to comment on whether there had been a breakdown in communications over the event, which is planned for 27 June.
"I really don't want to go into the internal communications within Sinn Féin," he said.
"I was aware of an event. I think, like many others, I would not have been aware of the full detail, or of when statements are going to be made."