Abstract: With the expansion of mining operations in China, traditional single-arm tunneling machines face challenges in cutting large-sized cross-sections. The tunneling and supporting operations are at the same position in space but they are separated in time, requiring frequent machine repositioning to complete the cutting of large sections. This inefficiency results in complex procedures and prevents the formation of large sections in a single operation. To address the inefficiencies in forming large sections with single-arm tunneling machines, this paper proposes a dual-arm cutting robot system and designs a hybrid force-position control system based on the robot’s relative dynamics model. Firstly, the kinematics and dynamics of the dual-arm cutting robot are modeled by integrating the robot’s relative Jacobian matrix with principles of virtual displacement and virtual work. The relative dynamic model of the robot is derived, where the motion states of the robot’s dual arms are simultaneously described by a single variable, integrating the independent dynamic models of the robot’s two arms into a unified whole. Secondly, based on the relative dynamic model of the robot, a closed-loop relative force-position hybrid control system is designed, and the stability of the control system is verified by using Lyapunov’s criterion. Finally, simulation of the relative force-position hybrid control system is performed. The results indicate that the relative force-position hybrid control system can achieve synchronous tracking of desired relative position and desired relative force. The absolute error of end-effectors in tracking desired position is 0.3132 meters with a root mean square error of 0.1447 meters, thereby enabling the dual arms to shear coal and rock. This research on modeling and control of dual-arm cutting robots offers valuable reference for similar studies.