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Because of the Poco exception ("file not found") I believe this is due to partial updating and / or not rebuilding a workspace after having updated ROS.
If you build packages from sources, you are required to rebuild your workspace every time you update any of the binaries that you depend on (for now, as there is no ABI compatibility guarantee). In most cases, failing to do this results in SEGFAULTs, but the MoveIt developers added something called sonames which are intended to result in exactly the error you ran into: instead of hard to debug SEGFAULTs, binaries will now refuse to load as libraries they require cannot be found.
The way to deal with this is to rebuild your workspace. Just run catkin_make (or catkin build) as you normally would and things should start working again.
Note btw that the fanuc_experimental packages are known not to completely work on Kinetic. See ros-industrial/fanuc#199. I'm surprised you got the kinematics plugins to build on Kinetic at all.
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