$x_i,y_i,z_i$	Position of the Hall effect sensors
$a,b,c$	Position of the permanent magnet
$m,n,p$	Rotational angles of the permanent magnet
$B_l$	Magnetic field intensity
$B_T$	Constant coefficient
${\mu }_0$	Air magnetic permeability
${\mu }_r$	Relative permeability of the medium
$M_T$	Magnetization
${\mathrm{T}}_l$	Distance from the vector of permanent magnet to the Hall effect sensors
$\mathcal{J}$	Jacobian matrix
$h$	Parameter increment
${\mathrm{y}}_{\mathrm{k}}$	Estimated position and rotational value of the permanent magnet
$A_i$	Proximal attachment point to the winch
$A_i$	Distal attachment point of the end effector
$R$	Rotation vector
$S$	Pose of the end effector