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Four-time world champion Selby also made heavy weather of a 45-minute eighth frame, but came through it to set up a meeting of the only two men to have played in every edition of the Champion of Champions since 2013.
Selby won the opening two frames, including the second with a break of 127 to extend his record of scoring a century in every tournament he has played this season.
Robertson missed a simple red in frame one and was on the back foot thereafter.
Selby moved 4-1 ahead with an 80, but Robertson responded with a 104 – more than double his next highest break in the match – before the epic seventh frame.
Selby and England’s Trump, who has not won a title since the 2024 UK Championship, meet on Sunday.
