Remove self-links with domain names in docs (#4299)

* Remove self-links with domain names in docs

Fixes #4191. Skipping the tutorials we import from kubernetes/examples.

Signed-off-by: Ahmet Alp Balkan <ahmetb@google.com>

* update federation/index.md user-guide links

* update assign-pod-node.md links

* update dns-pod-service.md link

* update link in jobs-run-to-completion.md

* update link in minikube.md

* update PS link in minikube.md

* update links in stackpoint.md

* update links in storage.md

* fix link in vsphere.md

* fix links in deprecation-policy.md

* Update pick-right-solution.md

* Update web-ui-dashboard.md

* Update ingress.md

* Update federation-service-discovery.md

* Update user-guide.md

* Update expose-external-ip-address.md

* Update README.md

* Update README.md

docs/tasks/federation/federation-service-discovery.md

@@ -380,7 +380,7 @@ Check that:
 
 #### This troubleshooting guide did not help me solve my problem
 
-1. Please use one of our  [support channels](http://kubernetes.io/docs/troubleshooting/) to seek assistance.
+1. Please use one of our  [support channels](/docs/tasks/debug-application-cluster/troubleshooting/) to seek assistance.
 
 ## For more information