England score were 320 for 6 against Sri Lanka's 257 with a lead of 63 runs, at stumps after Robson had made 127 in only his second Test.
Instead of all these complications, Sri Lanka fought back with three wickets late in the day.
And both Matt Prior (three not out) and Chris Jordan (four not out) were dropped before the close.
24 year-old Robson told "It was a special day, I got a bit of a start last night but I just wanted to fight hard this morning and get us into a decent position,".
Robson's debut, in the drawn first Test of this two-match series at Lord's, he made only one and 19 so wasn't much appreciated.
After scoring his first test century Robson explained endorsed by a Headingley crowd that included both his Australian father and English-born mother, "My debut at Lord's was unbelievable, a bit overwhelming in some respects, so I was looking forward to coming up here and focusing on the cricket rather than the party, as it were,"
England resumed Saturday on 36 without loss after Yorkshire fast bowler Liam Plunkett had taken Test-best figures of five for 64 on his home ground and Stuart Broad a hat-trick on Friday.
Cook was still left for searching his first Test century since the last of his England record 25 hundreds at Headingley last year by Sri Lankan pacer Dhammika Prasad.
But Robson, 21 not out overnight, confidently off-drove Shaminda Eranga for four. And the previous Test century scorer Gary Ballance also stroke two sixes with great confidence
to Sri Lankan bowlers.
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