Use a more compatible URL concat way

[realnumber666]

Fixes #3703 , I try to use urljoin in urllib package to provide a more compatible URL concat way in KFP quickstart doc.

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[google-oss-prow]

Hi @realnumber666. Thanks for your PR.

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[google-oss-prow]

[APPROVALNOTIFIER] This PR is NOT APPROVED

This pull-request has been approved by: realnumber666
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[Arhell]

/ok-to-test

[hbelmiro]

Thank you for this contribution @realnumber666.
/lgtm

[hbelmiro]

@realnumber666 can you please edit the PR description to use Fixes https://github.com/kubeflow/website/issues/3703 instead of Based on my issue https://github.com/kubeflow/website/issues/3703. That way GitHub will automatically link this PR to your issue and will automatically close the issue when this PR is closed.

https://docs.github.com/en/issues/tracking-your-work-with-issues/linking-a-pull-request-to-an-issue#linking-a-pull-request-to-an-issue-using-a-keyword

Thank you in advance.

[realnumber666]

@hbelmiro Done. Thanks for your advice!