Wow. Quelle patience.
My mom has definite tendencies in this direction, and what emerged is that it is what she does when she is feeling insecure. She just isn't sure what to do, and doesn't like to admit it/ doesn't want to be told what to do. She usually visits for 3 days at a time, and she is always much much better by the end of that time than at the beginning. I had to be pretty stern at first though -- "wait for dd to come to you!", rather than grabbing her immediately. Etc. (My mom HATES that... she really wants to just grab dd and hug her right away, and especially when dd was younger, she (dd) reacted strongly and that got everything off to a bad start.)
With this kind of very clear direction combined with an understanding that my mom was feeling kinda awkward, we've worked things out pretty well now, and dd loves to see her grandma.
One thing to be careful of is to try to not let your own distaste get in the way. My parents did not get along with either of their parents (my grandparents), and I had no relationship to speak of with my maternal grandparents while I was growing up. Visits were just to be endured. Then, as my parents got older, after I had left for college, they started to become closer to their parents, and were sad that I was so "distant." I tried, but I'd already missed out on a whole lot due to my parents' attitude. I've tried to be super careful about that with my parents and my dd, since I have significant problems with my parents, and that has been going pretty well so far. They love her, she loves them.