Area $A$ and its projection $B$ are given, in spherical coordinates, by: $$ A=\int_\Omega R^2\sin\theta\, d\theta d\phi, \quad B=\int_\Omega R^2\sin\theta\cos\theta\, d\theta d\phi, $$ where I took the base of the hemisphere in the $x-y$ plane, $\theta$ is the polar angle and $\Omega$ is the integration domain.
The height of the centroid is given then by its $z$ coordinates, so by definition: $$ z_{centroid}= {\int_\Omega R^2 z\sin\theta\, d\theta d\phi \over \int_\Omega R^2\sin\theta\, d\theta d\phi}= {\int_\Omega R^2 R\cos\theta\sin\theta\, d\theta d\phi \over \int_\Omega R^2\sin\theta\, d\theta d\phi}= {RB\over A}. $$