You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: Create_Serial_Link.m
    path of file: ./repos/ur5_modeling_force_estimate/JointSpaceControl_Model_C_ForceEstim
    
    the code of the file until where you have to start completion: function UR5     = Create_Serial_Link()
% ANALYTICAL JACOBIAN - Jacobian from Base to Tool.
%  Calculates the analytical Jacobian, based on the Euler angle transform
%  representation.

    
function UR5     = Create_Serial_Link()
% ANALYTICAL JACOBIAN - Jacobian from Base to Tool.
%  Calculates the analytical Jacobian, based on the Euler angle transform
%  representation.

qn = zeros(1,6);
dh = DenavitHartenberg(qn);
UR5 = SerialLink(dh); % dh = [theta, d, a, alpha]

end