Implementation of brake fault

[valegagge]

This is the follow-up of #576 . In this task, we need to implement the barke feature, the MVP1 of the required feature Increase safety checks for joint Torque/Current control to prevent mechanical limit breakage.

Dod
The brake fault works as expected. This feature needs development in the embObjMotionControl device. (We still need to open a related issue)

[valegagge]

please take into account the work done here: #657, where the joint switches in position automatically when it goes over the sw limits.