Joan's autobiography And A Voice to Sing With explains her take on the personal and professional relationship pretty well. Bob probably said as much as he ever has in prose about it in the No Direction Home documentary.

And A Voice to Sing With is an extremely good read. Out of print of course, like so much good stuff, but there again that is what second hand shops are for.

I see the BBC have got Sean Penn to read their abridged version of Dylan's Chronicles. Bob was obviously too busy recording radio shows...