diff --git a/doc/source/api.rst b/doc/source/api.rst
index 6db4b8b2e..188848eb0 100644
--- a/doc/source/api.rst
+++ b/doc/source/api.rst
@@ -357,6 +357,15 @@ Apply Transformations
    ~pytransform3d.transformations.scale_transform
    ~pytransform3d.transformations.adjoint_from_transform
 
+Position+Quaternion Operations
+------------------------------
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: function.rst
+
+   ~pytransform3d.transformations.pq_slerp
+
 Dual Quaternion Operations
 --------------------------
 
diff --git a/pytransform3d/rotations/_slerp.py b/pytransform3d/rotations/_slerp.py
index 0d2dc5e48..fdce62736 100644
--- a/pytransform3d/rotations/_slerp.py
+++ b/pytransform3d/rotations/_slerp.py
@@ -22,6 +22,17 @@ def axis_angle_slerp(start, end, t):
     -------
     a : array, shape (4,)
         Interpolated axis of rotation and rotation angle: (x, y, z, angle)
+
+    See Also
+    --------
+    quaternion_slerp :
+        SLERP for quaternions.
+
+    rotor_slerp :
+        SLERP for rotors.
+
+    pytransform3d.transformations.pq_slerp :
+        SLERP for position + quaternion.
     """
     start = check_axis_angle(start)
     end = check_axis_angle(end)
@@ -54,6 +65,17 @@ def quaternion_slerp(start, end, t, shortest_path=False):
     -------
     q : array, shape (4,)
         Interpolated unit quaternion to represent rotation: (w, x, y, z)
+
+    See Also
+    --------
+    axis_angle_slerp :
+        SLERP for axis-angle representation.
+
+    rotor_slerp :
+        SLERP for rotors.
+
+    pytransform3d.transformations.pq_slerp :
+        SLERP for position + quaternion.
     """
     start = check_quaternion(start)
     end = check_quaternion(end)
@@ -137,6 +159,17 @@ def rotor_slerp(start, end, t, shortest_path=False):
     -------
     rotor : array, shape (4,)
         Interpolated rotor: (a, b_yz, b_zx, b_xy)
+
+    See Also
+    --------
+    axis_angle_slerp :
+        SLERP for axis-angle representation.
+
+    quaternion_slerp :
+        SLERP for quaternions.
+
+    pytransform3d.transformations.pq_slerp :
+        SLERP for position + quaternion.
     """
     start = check_rotor(start)
     end = check_rotor(end)
diff --git a/pytransform3d/transformations/_dual_quaternion_operations.py b/pytransform3d/transformations/_dual_quaternion_operations.py
index 16dfebf0c..c1a04acdb 100644
--- a/pytransform3d/transformations/_dual_quaternion_operations.py
+++ b/pytransform3d/transformations/_dual_quaternion_operations.py
@@ -147,6 +147,12 @@ def dual_quaternion_sclerp(start, end, t):
     Kavan, Collins, O'Sullivan, Zara: Dual Quaternions for Rigid Transformation
     Blending (2006), Technical report, Trinity College Dublin,
     https://users.cs.utah.edu/~ladislav/kavan06dual/kavan06dual.pdf
+
+    See Also
+    --------
+    pq_slerp :
+        An alternative approach is spherical linear interpolation (SLERP) with
+        position and quaternion.
     """
     start = check_dual_quaternion(start)
     end = check_dual_quaternion(end)
diff --git a/pytransform3d/transformations/_pq_operations.py b/pytransform3d/transformations/_pq_operations.py
index 003ba51ed..cf63faf66 100644
--- a/pytransform3d/transformations/_pq_operations.py
+++ b/pytransform3d/transformations/_pq_operations.py
@@ -10,10 +10,6 @@ def pq_slerp(start, end, t):
     We will use spherical linear interpolation (SLERP) for the quaternion and
     linear interpolation for the position.
 
-    An alternative approach is screw linear interpolation (ScLERP) with dual
-    quaternions (see
-    :func:`pytransform3d.transformations.dual_quaternion_sclerp`).
-
     Parameters
     ----------
     start : array-like, shape (7,)
@@ -29,6 +25,21 @@ def pq_slerp(start, end, t):
     -------
     pq_t : array-like, shape (7,)
         Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)
+
+    See Also
+    --------
+    dual_quaternion_sclerp :
+        An alternative approach is screw linear interpolation (ScLERP) with
+        dual quaternions.
+
+    pytransform3d.rotations.axis_angle_slerp :
+        SLERP for axis-angle representation.
+
+    pytransform3d.rotations.quaternion_slerp :
+        SLERP for quaternions.
+
+    pytransform3d.rotations.rotor_slerp :
+        SLERP for rotors.
     """
     start = check_pq(start)
     end = check_pq(end)