Jemba, I hope you take these observations in the spirit in which they are given. First, why do you want a relationship with your parents? They are the ones who threw you to the wolves to be beaten and raped and surrounded by drug addicts and prostitutes! Even more astonishing, you want your kids to have a relationship with their grandparents. I'd venture to say that your parents aren't any better than your pedophile in-laws.
Instead of thinking as your father's child, think as a mother to your children. What would you do to keep your children from drug addicts and prostitutes? I suspect you would move heaven and earth to do so. Your parents certainly didn't do that for you. It's quite possible that you blame yourself for what happened to you as a young adult. Once you put the blame where it belongs, you'll probably want you and your kids to be as far away from your parents as possible, which is where you should be.
There are elderly people out there who feel the same void that you do. Find one or two, and take care of each other.