According to his agent the writer died on March 31, reported Independent.
Born in South London in 1934, Bob began his writing career by creating scripts for BBC radio shows.
Bob worked with his old school friend John Esmonde, who passed away in 2008. The duo's most notable work was 1970s hit sitcom 'The Good Life'.
The sitcom focused on the lives of two suburban couples, played by Paul Eddington and Penelope Keith, Richard Briers and Felicity Kendal.
The pair's other works include 'Ever Decreasing Circles', 'Brush Strokes' and 'Please Sir!'.
In 'A Fine Romance', Dench had appeared alongside her husband Michael Williams, while in 'As Time Goes By', she starred opposite Geoffrey Palmer, which ran for nine series and had a couple of reunion specials between 1992 and 2005.