Voluntary actions are actions of one's own will. The action is though of and done consciously by the person. The person has full control over it. It involves the complete motor pathway from the cerebral cortex to the last muscle bundle which has to contract. So, throwing ball and writing are voluntary actions. Involuntary actions are actions done without will. The action is not though of and done without the consciousness of the person. The person has no control over it. It is opposite of voluntary actions. So, sneezing and heart beats are involuntary actions.