- The main goal of this paper is to introduce a new non-holonomic model and control of a tilt-rotor aerial robot for interactive operations via a 1DOF robotic manipulator. The modeling is derived by means of the Euler-Lagrange formulation, providing couplings between the robotic manipulator and the rotorcraft. The aerial robot is fully actuated and features thrust vector control, having a more flexible aerial profile. In terms of control, the Immersion and Invariance (II) control technique is applied in order to achieve the control objective (trajectory tracking). Finally, preliminary simulation results were conducted to evaluate and validate the control strategy for an interactive tilt-rotor micro aerial vehicle (MAV). © 2019 IEEE.