Spatchie, my children were 9, 10, and 13 when fibromyalgia hit me. I started delegating duties. Your 10 year old can clean up the kitchen with no problems. I was babysitting at age 11 and took care of the children and cleaned up messes.
Get a nice bag, like a lightweight beach bag, and give it to your 6 year old. Their responsibility is to go through the house, pick up things that shouldn't be there, put it in the bag and take it to the room it belongs. They could handle that, too. Just this will help you a lot. The bending doesn't hurt them!
My husband helped me by vacuuming for me. I made the mistake of buying a Kirby vacuum that weighed 10,000 pounds...or so I thought...and I would be put out of commission every time I vacuumed. When we got enough money saved up, I bought a Simplicity vacuum that does just as good a job but is quite light. (Not as light as an Oreck, but also not as expensive either!)
On the weekends, plan on cooking and storing or freezing some. I bought containers that are plates with lids that you can freeze. When I do a roast, I get a big one, peel a few more potatoes, and make a little extra gravy. Then I make plates and freeze them for my busy days. I just have to heat up a veggie. For example, you could roast a couple of chickens. Take some of the broth and chicken and make soup. Take more chicken for either a casserole or chicken fajitas, use one for a chicken dinner with leftovers. You could have many meals in a short period of time. Right now I have four bowls of ham, bean, and potato soup in my freezer along with tuna noodle casserole, a frozen meat loaf, etc.
Another idea is when I do a casserole, I'll double the recipe. That really only adds about 5 minutes to the preparation time. I freeze one and eat the other. Just having meals prepared ahead of time is sooo helpful when you are working.
If you can manage this, your evenings after work will go more smoothly and you won't have nearly the extra work to do. Hope this helps.
Sherrine