Roberts came to Gainesville last season after he was fired as the head coach of St. John's following the 2009-10 season. He accepted the job at St. John's in 2004.
From 1995-2004, Roberts was an assistant under Bill Self. He worked under him at Oral Roberts (1995-97), Tulsa (1997-2000), Illinois (2000-2003) and Kansas (2003-04) before leaving when he was offered the head coach position at St. John's.
Roberts will take Danny Manning's spot on the Kansas staff after the former Jayhawks star took the head coach position at Tulsa.
"Norm Roberts did a great job on our staff the past year here at Florida," Florida head coach Billy Donovan told the university's official website. "I have a lot of respect for the Kansas program and Bill Self, and I know this is a great opportunity for Norm and his family to all be together."
Donovan is now searching for another assistant coach to go with his current staff of John Pelphrey and Matt McCall.