We have investigated the interactions between single-walled carbon nanotubes, coated with polymer chains end-grafted to the tubes, and planar surfaces. By proper functionalization of the grafted polymers' free ends, we show how to obtain an attractive interaction that can be used to immobilize the tube at a desired distance from the surface. We demonstrate how the strength and distance of the minimal interaction can be controlled by the proper choice of polymer chain length, surface coverage, and type of functional end-group.