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Patrick - sorry, didn't see your comment until now.

It's a little confusing to figure out how to set parameters for a the kdl_plugin - you have to set them in the node and then in the namespace for the group - this is so a node can have several different kinematics solvers. Setting the following parameters for your arm makes IK take about 1.4 seconds when there's no solution on my desktop. Not positive whether it'll work better for you in random poses, but it's worth a try:

  <node pkg="arm_kinematics_constraint_aware" type="arm_kinematics_constraint_aware" name="pi_robot_right_arm_kinematics">
        <param name="group" type="string" value="right_arm" />
        <param name="right_arm/root_name" type="string" value="lower_torso_link" />
        <param name="right_arm/tip_name" type="string" value="right_wrist_link" />
        <param name="right_arm/max_solver_iterations" type="int" value="10000" />
        <param name="right_arm/max_search_iterations" type="int" value="10" />
        <param name="kinematics_solver" type="string" value="arm_kinematics_constraint_aware/KDLArmKinematicsPlugin" />
    </node>