The 32-year-old midfielder will sign for The Robins on a two-year deal when his contract at Plainmoor expires at the end of June.
"It is the right move at the right time for me and Brian Tinnion didn't have to sell the club to me," he told the club's official website.
"You can't be happy with mid-table at a club like this aand the best way to get success is if you push for the top."