It was discovered on 14 September 1990, by American astronomer Henry Holt at the Palomar Observatory in California.

The uncommon L-type asteroid was named for American science fiction writer Robert A.

[1] When applying the hierarchical clustering method to the asteroid's proper orbital elements, Robheinlein is considered to be a member of the Augusta family (as per Zappalà)[6] as well as a non-family asteroid from the main belt's background population (as per Nesvorný).

[1] Based on a suggestion by Belgian amateur astronomer Jean Meeus, this minor planet was named after Robert Anson Heinlein (1907–1988), the Dean of Science Fiction, author of the mainstream literary classic Stranger in a Strange Land, and science fiction novels Starship Troopers and The Moon is a Harsh Mistress.

[9] Heinlein helped narrate The Moon Landing with Walter Cronkite on CBS in 1969, was involved in the planning of the Star Wars Defense program in the 1980s, contributed the words Waldo and Grok to the English language, and popularized the phrases Space Marine, TANSTAAFL, and Pay it Forward.