Heat gas or charcoal grill. In 1-quart saucepan, heat marmalade, rosemary and salt to boiling, stirring frequently. Remove from heat; set aside.
In 1-quart microwavable bowl, place sweet potato pieces and water. Cover loosely with microwavable paper towel. Microwave on High 2 to 3 minutes, stirring once, just until potatoes are tender (do not overcook). Drain sweet potatoes; rinse with cold water.
On each of four 10- to 12-inch metal skewers, carefully thread pork, sweet potatoes and zucchini (with cut side facing out) alternately, leaving 1/4-inch space between each piece.
Cover and grill kabobs over medium heat 8 to 10 minutes, turning once and brushing with marmalade glaze during last 3 minutes, until pork is no pink in center.