You kind of can tell. Not 100%, but enough to be useful.
One recruiter asked if I wanted a job. I said no. He asked if I knew anyone else who did. I gave him a name. He said, "Oh, he works for X? I recruit for them; I can't present a person from there for somewhere else." I was really impressed. A recruiter with ethics? I made a note - next time I need a job, call this guy.
Sometimes you can tell by the way they talk to you. When you say, for example, "I mostly do embedded software", do they know what that is? Do they know that they should stop sending you web front end jobs?
As I said, not 100%. But if I can deal with the best 20% of recruiters (with an occasional mistake thrown in), that's still good enough.