I have two sets of forces and moments, measured by two 6 DOF force/torque sensors at position A and B on a robot arm (B at end effector). My goal is to use this measurements to relate the forces/moments at position A to those at position B, i.e. find a transformation of $F_A, M_A$ to $F_B, M_B$. The transformation is static and no other external forces apply.
The related formulas for that are: $$ F_B \approx RF_A \\ M_B \approx RM_A+t\times F_B $$ Is that correct (it's addaped from this)?
My goal is now to find an optimal (in a least squares way) matrix R and vector t. How would I do this? Is the Kabsch algorithm suitable for this?
Below a small sketch of the setup. It is some sort of handle on the robot arm. A force is applied (and measured) at Sensor A, the goal is to use the measured force at sensor B to find the transformation.