When George Duke passed away recently, there were a few excellent youtube video links posted here. Because youtube is really random about showing related videos (in the right hand column), it took me a while to stumble across this, but it's great. Cavett spends an entire 30 min. show with Zappa as his only guest.
Google "frank zappa dick cavett" and the first three results will be the three parts to the interview. The video isn't great, but that's not all that important.
In watching various youtube videos of Zappa talking, it becomes clear what an utterly sane and grounded person he was. Just the opposite of the crazy persona most folks perceived him as having.