Add try/catch statements around IK/FK code

[adeguet1]

Exceptions thrown during IK/FK (and other cisstVector computations) are caught by the cisstMultiTask catch all approach and don't impact the current state of the arm. E.g. ECM IK does a normalize self on a vector that can be 0. Maybe all Run methods should have a try/catch and set the state to "FAULT".