Hall of Famer Frank Robinson, ousted as manager of the San Francisco Giants in August, will return as a coach for the Baltimore Orioles next season, Hank Peters, the Orioles' executive vice president, announced last night, confirming a move that had been rumored for weeks.

Robinson's salary was not disclosed.

"It will be up to Joe (Altobelli) to determine what Frank's specific responsibilities will be," Peters said.

Robinson, the first black manager in the major leagues (Cleveland, 1975-77), left the Orioles in 1981 to join San Francisco as manager and was relieved of his duties in his fourth season.

He played the outfield for the Orioles from 1966 through 1971 and returned to the organization as manager of Baltimore's top farm club at Rochester of the International League in 1978. Robinson then became Baltimore's first base coach and hitting instructor for two years. He is credited with substantially improving the club's outfield defense in the Orioles' 1979 pennant-winning season.

"Frank did a fine job for us while coaching for Earl Weaver, and we expect more of the same from him next year," Peters said . . .

Cincinnati Reds outfielder Dave Parker, the team's leading hitter last season, says he wants $1 million a year for the next four years, and concedes his demands could send him packing.

Parker, 33, has one year left on a two-year contract estimated to be worth $1.6 million. He said he hopes to sign a four-year extension before spring training. "I'm looking at four years at a million dollars a year," Parker said. "I can't tell you exact figures, but that's close enough."