Following Robert's Rules of Order (RONR) is something that an organization agrees to do; it's not required by law or anyone external. In fact, lots of organizations never adopt a parliamentary authority (although this is not advisable can lead to problems like this one).
If your organization has agreed to follow RONR but the officers refuse to carry out their duties, then the organization can put up with it or else fire their officers and choose new ones who will carry out their duties faithfully. Most organizations have governing documents (constitution, bylaws, articles, rules, policies, etc) that lay out how this can be done. If the organization fires an officer but they refuse to "hand over the keys", then you usually have to resort to settling the matter in court. If the former officers doesn't follow what the court says, eventually the court will send men with guns to enforce its ruling. If the former officer doesn't cooperate with the men with guns, they'll eventually get shot.
However, taking minutes may be required by law depending on the corporate structure of your organization, type of nonprofit status, and what state it is in. If the officers or organization refuse to take minutes but the law requires them to, then the officers and/or the organization could be held liable by a court and get a fine or get sent to jail. You would have to consult with a lawyer about your specific situation.
