As Jasiek wrote - currently there's no way to create permalink to any screen you see in epesi, logged user or not.
However, there's a little tool we created to grant very similar functionality. In many places in epesi (Long text fields, notes, shoutbox) you can use bbcodes to link to specific records. For instance:
[contact]John Smith[/contact]
This bbcode will create a link to John Smith found on your epesi contact list (first match is used).
[contact="212"]click here[/contact]
This bbcode will link to contact with ID 212, using label "click here". Records IDs can be seen on "I"nfo icon on each record.
Currently Available bbcodes:
[company]
[contact]
[task]
[ticket]
[phone]
[meeting]
[url]
As well as cosmetic bbcodes:
[b]
[i]
[s]
[u]
[color]
We have still few improvements planned for epesi bbcodes, but what I listed here should work properly.
Hope this helps,
Arek