Industrial robots are relatively inexpensive, compared to conventional machining tools. However, they suffer in terms of positioning and tracking accuracy. To mitigate this issue, laser trackers can be used to calibrate robots or even for positioning control. The spherically mounted reflector used must be visible to the laser tracker. Therefore, the position of the reflector needs to be known precisely to ensure visibility. To evaluate and satisfy the visibility condition for laser tracker tasks, such as calibration or path tracking, this paper presents an efficient algorithm for identifying the kinematic chain, which includes the tracker.