On a kitkat Google Nexus 7, I tired everything here, and did not succeed. The device did previously connect properly to this computer.
Then I hit settings - developer-options - Revoke USB debugging authorisations and confirmed that I really did want to revoke them.
I unplugged and plugged the USB. The tablet beeped and asked if wanted to authorise the computer for debugging. I said "Yes" and everything worked again.