The 24 year old has been a target of the Stamford Bridge outfit throughout the summer.
The skilful forward is now expected to travel to London to discuss personal terms ahead of a proposed £28million switch.
Kenyon told Sky Sports News: "The Robinho one is continuing to rumble, we're ever-confident that will get done, but I think we've always said it will go to the wire.
"We keep moving it along and we hope that he would be coming to join us at Chelsea.
"Scolari identified two targets when we appointed him as manager. One was Deco and the other was Robinho. Everyone has seen the impact that Deco has had on the Premier League.
"I think the squad is capable of competing without Robinho but with him will give us an added dimension."