Update amo_encoder_joint_calibration_10_details.md

docs/robot_calibration_types/amo_encoder_joint_calibration_10_details.md

@@ -1,16 +1,16 @@
 # Calibration type 10 details - AMO Encoder Joint Calibration
 
 This section illustrates the details of the calibration procedure used for the `iCub 3/ergoCub` joints that mount an AMO encoder at the slow shaft.
-As already detailed in the [`calibration-10-procedure`](./standard_calibration_types.md/#calibration-10) joints provided with the `AMO` encoder are currently calibrated so that it can be handled as an incremental encoder coupled with a quadrature encoder placed at the motor.
+As already detailed in the [`calibration-type-10-procedure`](./standard_calibration_types.md/#calibration-10) joints provided with the `AMO` encoder are currently calibrated so that it can be handled as an incremental encoder coupled with a quadrature encoder placed at the motor.
 
 ## Calibration workflow
 
-Complete pipeline for the `calibration type 10` using `AMO encoder` at joint and `quadrature encoder` at motor.
+Complete pipeline for the `calibration type 10` using `AMO encoder` at the joint and `quadrature encoder` at the motor.
 <p align="center">
     <img  src="../img/calibration-amo-abs-enc.png" width="700">
 </p>
 
-As you can see in the above-reported state machine, after the calibration command is received by the EMS, a timer of 30 seconds gets triggered; afterward, we wait until the motor encoder calibration ends; finally, the calibration procedure 10 commences.
+As you can see in the above-reported state machine, after the calibration command is received by the EMS, a timer of 30 seconds gets triggered; afterward, we wait until the motor encoder calibration ends; finally, the procedure of the calibration type 10 commences.
 
 The procedure basically consists in moving the slow shaft towards one of the hardware limits as defined in the position set within the calibration parameter `calibrationZero`. The value of the PWM used is in turn defined through the parameter `calibration1`. The joint moves until the limit is reached within a time window and within a predefined maximum length, whose values are coded in the firmware.