How exactly do you plan to use JTAG for repair? The most you can do is a boundary scan, but without information about the board, it won't do you any good. You may be able to collect this information over time for a limited number of boards, but you will do the same with the knowledge for typical failures anyway.
If you have time to spare, and some board to play with, you can start with a simple Arduino project to do the boundary scan.
Other than this, most JTAG adapters will have some sort of a scripting tool. But again, you will get access to the pins, but without structured information about the board, this will be of a very limited value.