You can use the "external URL":
http://example.com/index.php?option=com_content&task=article.edit&a_id=24
where 24 is the articles' id. The user needs to be logged in, and the default behaviour for non logged-in users is to show the category view;
Should this not be desireable, you can get away with writing a simple controller task to handle proper redirection, passing the return url to the login task.