Robertson took a 2-0 lead after clinching two cagey opening frames in Milton Keynes, and also led 4-2 and 5-3, but each time Selby battled back to level before the Australian sealed his place in the final with a 92-break in the decider.

"Mark was as tenacious as ever," Robertson said.

"I had most of the run of the ball, we had a joke about it at the end.

"But you have to take advantage when it goes your way. I was lucky in the last frame when I missed the long red and didn't leave Mark anything."

Robertson will face Judd Trump in Sunday's final after the world No.1 beat John Higgins 6-4 in the other semi.

Four-time world champion Higgins held the upper hand in the early stages and with the help of two century breaks went 4-3 up.

But Trump took the next three frames and - leading 5-4 in the 10th - a score of 73 sealed victory.

"I got outplayed," Trump said. "I was under it big time, he played well in the frames he scored heavy."

Trump said he was looking forward to facing the 2010 world champion Robertson in the final.

"He's a real heavy scorer and he obviously got through a tough game against Selby, so he'll be raring to get another title under his belt.

"It's another game I will enjoy. I enjoy playing him. Hopefully for me it's a battle of scoring and I can come out on top."

Australian Associated Press