The well regulated militia of each state is its Natl Guard. The Federal Government has some control on them, but they belong to each state. The reason for the comma and saying the right of the people, is to allow for what is considered the minuteman. Minutemen are citizens who own weapons that have the ability to join with the militia at a minutes notice if needed. This is why the founders did not want the individual to have their right to bear arms infringed. To say that you have to join the militia to own arms is just another form of state and federal gun control and is against the Constitution.
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