You need to open the start file of the output to view it. RoboHelp does not usurp SP. For example, you can add a link on your page to go to the help.
It is working now. I re-generated the project (Generate>Primary Layout(Multiscreen)) and republished to sharepoint. Now when I add a link to any of the Salesbuilder html pages, the Salesbuilder-help is displaying as intended. I don't know what I did different this time, but now it's working. On my initial try, RH generated more directories than it did this time. The first time there was a !Language!, !Screen Layout!, !SSL!, and a few others that are not present this second time.
Thanks for your help.