sudheer - if you are calling this function from the command line (or another piece of code) as simply
then you will get this error. The function signature
function T = trans( a, d,alpha, theta)
is telling you that you need to provide four input paramters: a, d, alpha and theta. And so the function should be called like
The above inputs are for example only...I don't know what the units for the inputs should be.