Python: UnicodeEncodeError: 'charmap' codec can't encode character '\ufb02' in position 363: character maps to <undefined>

I'm currently writing code to download all words from a conference but I currently can't get it because of this codec issue. How do I fix it?

import requests
import PyPDF2 
import io 
from bs4 import BeautifulSoup
import urllib.request
from PyPDF2._reader import PdfFileReader

# Target URL and go get 
URL = 'http://proceedings.mlr.press/v70/'
response = requests.get(URL)

# parse content
content = BeautifulSoup(response.text, 'lxml')
all_content_links = content.find_all('a')
count = 0
PDF_links = []

for link in all_content_links:
    urllink = str(link.encode('utf-8'))
    # picking up URLs that have a PDF
    if ".pdf" in urllink:
        url_pdf = str(link['href'].encode('utf-8'))
        url_pdf = url_pdf[2:] # Remove first two characters
        url_pdf = url_pdf[:-1] # Remove last characters
        #print(url_pdf)
        PDF_links.append(url_pdf)
    count = count + 1

url = PDF_links[0]
r = requests.get(url)
f = io.BytesIO(r.content)

reader = PdfFileReader(f)
contents = reader.getPage(0).extractText().split("\n")
print(contents)