"A well regulated Militia, being necessary to the security of a free State, This phrase is a dependent clause in the sentence. and as such can be removed without changing the meaning of the sentence. Just as in this example: Like most girls, Ellen plays with dolls."
You may shriek all you wish, but the grammatical fact remains that the right of the people to keep and bear arms is independent of the dependent clause. "People" means exactly what it does in the First, Fourth and Tenth Amendments.
Your understanding of American History is flawed as well. The event that finally sparked the American Revolution was the attempted seizure of an 'armory' of guns and powder held by the state militia at Lexington. Like your modern day totalitarians, the Brits wanted to collect the guns and ammo to prevent freedom.
I make no corrections or additions of my own to the above anon statement, but simply like what I had found.