Their ostensible purpose was to convey congratulations and expressions of good will, but in fact Parliament clearly intended them both to spy on him and if possible to hinder him from any course of action except that which would help the Rump's survival.
When Monck entered London on 3 February 1660, Scot and Robinson rode with him at the head of his troops as visible demonstration that he derived his authority to act only from Parliament.
(The incident is recorded by Samuel Pepys in his diary the following day: "Luke Robinson himself stood up and made a recantation for what he had done, and promises to be a loyal subject to his Prince for the time to come.")
Robinson was clearly a figure well-known and disliked by the Royalists, and he was one of a number of Roundhead figures mocked in a popular Cavalier song of the period: Luke Robinson shall go before ye, that snarling northern tyke; Be sure he’ll not adore ye, for honour he doth not like; He cannot honour inherit, and he knows he can never merit, And therefore he cannot bear it that any one else should wear it.
and another popular ballad of the period described him: Luke Robinson, that clownado,Though his heart be a granado,Yet a high shoe with his hand in his pokeIs his most perfect shadow.