Update links to the RTDE guide

The current one does not work anymore.

Author: URJala

README.md

@@ -55,7 +55,7 @@ Currently, this library contains the following components:
   and provides only basic functionality. See [A word on the primary / secondary
   interface](#a-word-on-the-primary--secondary-interface) for further information about the primary
   interface.
-* **RTDE interface:** The [RTDE interface](https://www.universal-robots.com/articles/ur-articles/real-time-data-exchange-rtde-guide/)
+* **RTDE interface:** The [RTDE interface](https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide)
   is fully supported by this library. See
   [RTDEClient](https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/architecture.html#rtdeclient)
   for further information on how

doc/architecture/rtde_client.rst

@@ -6,7 +6,7 @@ RTDEClient
 ==========
 
 The Real Time Data Exchange Client, ``RTDEClient``, class serves as a standalone
-`RTDE <https://www.universal-robots.com/articles/ur-articles/real-time-data-exchange-rtde-guide/>`_
+`RTDE <https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/>`_
 client. To use the RTDE-Client, you'll have to initialize and start it separately:
 
 .. code-block:: c++
@@ -25,7 +25,7 @@ client. To use the RTDE-Client, you'll have to initialize and start it separatel
 
 Upon construction, two recipe files have to be given, one for the RTDE inputs, one for the RTDE
 outputs. Please refer to the `RTDE
-guide <https://www.universal-robots.com/articles/ur-articles/real-time-data-exchange-rtde-guide/>`_
+guide <https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/>`_
 on which elements are available.
 
 Inside the ``RTDEclient`` data is received in a separate thread, parsed by the ``RTDEParser`` and