Due to excessive maneuverability, mobile manipulators which consist of one or more manipulators mounted on a mobile base have attracted much of interest. Tipping over is one of the most important problems in mobile manipulators especially in manipulating heavy objects, also during maneuvers in unknown environment or on rugged terrains. Therefore, estimation and evaluation of dynamic stability with appropriate easy-computed measure throughout the motion of such systems is a challenging task. In this study, a new tip-over stability measure named as moment–height stability