[SPARK-16726][SQL] Improve `Union/Intersect/Except` error messages on incompatible types

## What changes were proposed in this pull request?

Currently, `UNION` queries on incompatible types show misleading error messages, i.e., `unresolved operator Union`. We had better show a more correct message. This will help users in the situation of [SPARK-16704](https://issues.apache.org/jira/browse/SPARK-16704).

**Before**
```scala
scala> sql("select 1,2,3 union (select 1,array(2),3)")
org.apache.spark.sql.AnalysisException: unresolved operator 'Union;
scala> sql("select 1,2,3 intersect (select 1,array(2),3)")
org.apache.spark.sql.AnalysisException: unresolved operator 'Intersect;
scala> sql("select 1,2,3 except (select 1,array(2),3)")
org.apache.spark.sql.AnalysisException: unresolved operator 'Except;
```

**After**
```scala
scala> sql("select 1,2,3 union (select 1,array(2),3)")
org.apache.spark.sql.AnalysisException: Union can only be performed on tables with the compatible column types. ArrayType(IntegerType,false) <> IntegerType at the second column of the second table;
scala> sql("select 1,2,3 intersect (select 1,array(2),3)")
org.apache.spark.sql.AnalysisException: Intersect can only be performed on tables with the compatible column types. ArrayType(IntegerType,false) <> IntegerType at the second column of the second table;
scala> sql("select 1,2,3 except (select array(1),array(2),3)")
org.apache.spark.sql.AnalysisException: Except can only be performed on tables with the compatible column types. ArrayType(IntegerType,false) <> IntegerType at the first column of the second table;
```

## How was this patch tested?

Pass the Jenkins test with a new test case.

Author: Dongjoon Hyun <dongjoon@apache.org>

Closes #14355 from dongjoon-hyun/SPARK-16726.

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