thanks Nation and hermann for the replies.
I did get it working, and it is beautiful!
I used hermann's idea about creating a temporary user frame and moving the origin to the "ideal rotation point" using the matrix program, then I went PR[1]= LPOS, then using the matrix program I spun the UFrame and moved it toward the sensors the average amount based on the sensor distance, then I simply moved to PR[1] and the correction is made perfectly.
thanks again.