What If Robert Baratheon NEVER Died? | Game of Thrones

We go through how the events of Game of Thrones would change if the Robert Baratheon NEVER died. What would King Robert's next move be, would there be on trial of his wife? How badly would Cersei and Jaime Lannister be punished? What does Tywin Lannister do next? Does Ned Stark still stay as Hand of the King?