Mupad create a function

I want to create a "forward kinematic matrix" in MuPAD and here is my matrix:

 matrix ([[cos(`θ`), -sin(`θ`)*cos(`α`), sin(`θ`)*cos(`α`), a*cos(`θ`)], [sin(`θ`), cos(`θ`)*cos(`α`), -cos(`θ`)*sin(`α`), a*sin(`θ`)], [0, sin(`α`), cos(`α`), d], [0, 0, 0, 1]])

I want to use this matrix with different theta, alpha, a and d values. But i couldn't linked my matrix with this variables.

I am sure that it is possible but i don't know how but how can i create and UI which takes my variables and give my matrix output?

Is there anybody can help?

[Walter Roberson]

Do you want the UI to operate at the level of a MuPAD notebook, or do you want it to be a UI written in MuPAD but invoked from MATLAB, or do you want it to be a MATLAB-level UI that uses feval() to interact with MuPAD and returns the answer to MATLAB ?