Yes, it helps to read other writings of the Founding Fathers on the subject. In those you can really see the individual right manifested quite clearly. Some folks here have some very eloquent signatures bearing them.
The 2A is written in a style, familiar in that time, that today reads kind of backwards. Based on what all I've read on the subject, my take on it is this: Individuals need to own their own weapons to facilitate formation of a militia, to preserve the free state. The use of the word "people" in the 2A declares the right as pertinent to the individual. The word "militia" has various meanings, as seen in other posts above. Some are more organized (or ordained) than others.
The 2A is a bit more coy than some of the individual quotes of our Founding Fathers. They tell you right off who the likely enemy could be.