If your riding position makes it difficult to control the bike properly, you have to do something about it. On the race bikes (your 6R), the pegs are set up so high for ground clearance, your knees are probably above the tank. You can get rearsets for around $400 and they may lower the pegs some, but probably not enough for you. Handlebar risers will raise the bars and bring them back a little. Of course, being on a bike with 54 inch wheelbase doesn't help a tall person either.
If it was me, I would get a different bike. The older bikes like CBR1000F, FJ1200, and ZX-11 are big, fast, and comfortable and would make good beginner bikes. Unfortunately, they don't make anything like them now. If you want a newer bike, the Aprilia Tuono, FZ1, and Honda 919 are easy to ride and comfortable.