meaning - is there a name for the concept of repetitive writing to improve handwriting?

The term writing lines or writing sentences is used for the practice of writing the same sentence over and over again, as Bart Simpson often has to do. It is a form of discipline or punishment. It is not necessarily done to improve penmanship.

The term copywork is used by educators for the practice of copying (in handwriting) quotes and passages from books. It is done to teach penmanship, but also to teach spelling and grammar.

One definition is as follows:

What is copywork? Copywork is the act of writing down, word for word, a sentence or passage from another source. The goals are excellent penmanship, accurate punctuation and capitalization, and a discussion of sentence structure and English grammar as appropriate for the child's learning level.

Copywork is not necessarily repetitive, like the task given to Bart.