Registered office is the term used in the Company Law and so should be used in contracts and other legal texts. Place of residence is just standard technical English found on forms. Home I am guessing since I don't have the context and so the precise meaning.

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Note added at 5 hrs (2009-11-03 00:29:27 GMT)
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If it not a legal text, I would generally use 'central/main office(s)' rather than 'registered office'. The situation is this. The registered office is where your company receives notices from the government and is the address listed on any government website. This does not have to be your central office. For example, if your company is renting office space, you may not want to go through the hassle and expense of changing your registered address if you know your company is likely to move in a year or if you have a small company such as an individual enterprise (sole proprietorship), which may be registred at the owner's home.