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The wikipedia article on euler angles claims that the Euler angles in zxz convention are unique if we constrain the range they are allowed to take (except in the case of the gimbal lock).

This seems reasonable. But can someone give me a reference... a book or a paper where this is stated?

On searching the web, I was able to find some lecture notes which proved the above assertion. But it did not have references.

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# Uniqueness of Euler angles

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