why is my MATLAB code not running? I've tried fixing it but keeps giving the same error. I've attached the code and DH parameters, and I'm trying to do this :Trying to make a MATLAB function to derive the forward kinematics transformation matrices for the robot arm by developing MATLAB code from the transformation matrix that I've done from my dh parameter

 

 

1- 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Secontrial.m X + 25 26 27 28 29 30 31 32 function T = std_DH(theta, alpha, a, d) % Compute the DH transformation matrix T = [cos (theta), sin (theta), 0, 0 end function T_total = make_tfMatrix(q1, 92, 93, 94) % Calculate the transformation matrices for each joint end -sin(theta) *cos(alpha), sin (theta)*sin (alpha), a*cos(theta); cos (theta) *cos(alpha), -cos (theta)*sin (alpha), a* sin(theta); sin (alpha), cos (alpha), 0, d; 1]; 0, 0T1 = std_DH(q1, pi/2, 0, 0.077); 1T2 = std_DH(q2 + pi/2, 0, 0.128, 0); 2T3 = std_DH (q3pi/2, 0, 0.148, 0); 3T4 = std_DH (q4, 0, 0.126, 0); % Calculate the overall transformation matrix T_total = 0T1 * 1T2 * 2T3 * 3T4; = % Example usage: % Replace these values with the actual joint angles in radians 91 deg2rad(0); q2 = deg2rad(0); q3 = deg2rad(0); q4 deg2rad(0); = % Calculate the total transformation matrix T_total = make_tfMatrix (q1, 92, 93, 94); % Display the result disp (T_total); Command Window New to MATLAB? See resources for Getting Started. Invalid text character. Check for unsupported symbol, invisible character, or pasting or non-ASCII characters. >> Secontrial Error: File: Secontrial.m Line: 11 Column: 5 Invalid text character. Check for unsupported symbol, invisible character, or pasting of non-ASCII characters. >> Secontrial Error: File: Secontrial.m Line: 11 Column: 5 Invalid text character. Check for unsupported symbol, invisible character, or pasting of non-ASCII characters. fx >> File: Secontrial.m Line: 8 Column: 12 Invalid expression. Check for missing multiplication operator, missing or unbalanced delimiters, or other syntax error. To construct matrices, use brackets instead of parentheses.