Issue: the drivers are not being installed successfully in your machine.
Solution: kindly download and install Samsung Kies from here.It includes drivers for your Samsung device.
It will definitely solve your issue.
Reference: steps to follow while installing kies
I hope it will be helpful !!
EDIT:
As suggested by Fernando Ramirez
In the cell-phone, Go to Settings -> Storage -> options -> USB computer connection -> select Media Device (MTP) and it will install the drivers