Guardianship and Child Welfare

I am in a troubled marriage where wife prefers to live with her parents while I live alone in the same city close by to ensure I do my duties as a father. My daughter is 2.5 years old and I get to visit her at the whims and fancy of my wife. Please understand I have to withstand humiliation and disrespectful behaviour just to make sure I can meet my kid. Anything can trigger an episode of abuse towards me and its a constant fear I live with. I have been taking care of my kids expenses and demands of my wife and wifes healthcare despite her earning more than me. Most recent incident is when I was bed ridden and ill and could not obey her orders she has banned me from meeting my kid and threatens to call police and create a scene if I go there. Its has been more than two months that I am estranged. She is extorting me for money if I ever want to see my kid again. What can the legal system do for me here? I hear and read a lot of pro women laws, what can the law do for me here?