No reason was given for his withdrawal.
Swansea City and Wales under-20 forward Daniel James will replace Robson-Kanu in the squad as Wales try to cut down the four-point gap to leaders Serbia and Ireland in UEFA Group D.
Real Madrid forward Gareth Bale is suspended for the match in Belgrade.
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(Reporting by Aditi Prakash in Bengaluru, editing by Nick Mulvenney)
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