Zend certified PHP/Magento developer

Magento 2: Call custom admin controller from frontend

Is there a way to call custom admin controller (which prints a pdf file from sales order view page) from frontend download anchor link?

<a href="http://m7.local/index.php/admin/magemechanic_workorder/order/print/order_id/<?php echo $orderId ?>" download>Download</a>