This is my latest best try, but it still returns a syntax error when 
executing (not when compiling) :

db.define_table('guitar',
                          Field('brand',type='string'))

db.define_table('customer',
                           Field('name',type='string'),
                           Field('guitar_ref',type='list:reference guitar'))
db.customer.guitar_ref.requires=IS_IN_DB(db,'guitar.id',multiple='True')

db.define_table('invoice',
                          Field('work_todo',type='text'),
                          Field('customer_ref',type='reference customer'),
                          Field('guitar_ref',type='reference guitar'))
db.invoice.customer_ref.requires=IS_IN_DB(db,'customer.id')
db.invoice.guitar_ref.requires=IS_IN_DB(db(lambda 
row:db.customer[db.row.customer_ref].guitar_ref==db.guitar._id),'guitar.id')

Error returned :
<class 'sqlite3.OperationalError'>(near "<": syntax error)

(self=<pydal.adapters.sqlite.SQLiteAdapter object>, *a=('SELECT guitar.id 
FROM guitar WHERE ((guitar.id ... <lambda> at 0x7f7face09938>) ORDER BY 
guitar.id;',), **b={})

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