[SPARK-19319][BACKPORT-2.1][SPARKR] SparkR Kmeans summary returns error when the cluster size doesn't equal to k

## What changes were proposed in this pull request?

Backport fix of #16666

## How was this patch tested?

Backport unit tests

Author: wm624@hotmail.com <wm624@hotmail.com>

Closes #16761 from wangmiao1981/kmeansport.