Isaac Ben Harush | Use of the infinitive

Hello all,
Going through the LFN grammar, I was wondering if the infinitive form
is really essential. Examples using the -r form also mention it to be
optional.

Me vole dansar = I want to dance.
To my eyes, "me vole dansa" means the same. If the meaning should be "I
want a dance", then it's "Me vole un dansa", no?

I'm trying to think of occations where the infinitive is essential. But
I'm not very linguistically inclined... Right now, the -r suffix seems
out place with the creole nature of LFN.

I'll be happy to be corrected.

Isaac.