Richardson was appointed as Paul Cook's permanent successor last month having served as the Liverpudlian's number two before his switch to Chesterfield.
Skipper Joyce played alongside Richardson during his time as a player at the Crown Ground, unlike many members of a youthful Reds squad.
"Leam's been at the club for quite a long time as a player and then over the last 12 months as assistant manager," Joyce told Press Association Sport.
"We've got quite a few new lads in who've only seen Leam as a coach and an assistant manager, a few of the lads have seen him as a player, but to be honest the gaffer is doing great.
"The lads are fully behind him. It's been a really smooth transition and I think everyone's pulling together and doing well."
- Sports & Recreation