Not intending to give you a hard time, but I linked to Apple's own information. The battery doesn't care how/when/how often you charge it. Their recommendation (clearly stated on the link) is to take it to 100% and then let it drop to 0% through normal usage about once a month. the rest of the time you can leave it plugged in constantly, charge it when it drops to zero or anything in between. It just doesn't matter.
(Sigh, this has been beat to death, but I'll bite again, since it's been a while for me.

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First of all, Apple's recommendations are good. However, there's actual science behind their recommendations, and the battery
does care how it's charged and discharged. It does matter.
(Oooh, scary hard science! Run away!

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If you want to maximize lithium-ion battery longevity (how many years/months the battery lasts), you should charge it by topping it off as often as possible. Lithium-ion batteries like top-off charges. Deep discharges (going to "zero") shorten the overall battery lifetime. However, in order to keep the battery meter calibrated (to give you an accurate reading of how much battery you have left), you need to calibrate the battery meter by running the battery down as low as possible (down to zero if possible). Apple's recommendation of doing this once a month or so is an engineering tradeoff: in order to get an accurate battery meter, you're trading off a tiny amount of battery overall lifetime. By doing this infrequently (e.g., once a month, per Apple's recommendations), the decrease in overall battery lifetime should be insignificant. However, for example, if you deep discharged the battery daily, it wouldn't surprise me if your iPad's battery didn't last anywhere near as long as someone else's, who didn't do daily deep discharges.
(Technical nit, for those anal people: when a consumer electronics battery meter reads "zero", it's not really zero -- the battery still has a small amount of power left. This is done to protect the battery, as it would be damaged if the charge gets below some level. So, when you discharge the battery until the iPad dies, you're not really damaging the battery, except in the sense that you're shortening the overall longevity, as mentioned above.)
If you want more technical information, go here:
http://batteryuniversity.com/learn/article/how_to_prolong_lithium_based_batteries
Interesting tidbit, from the above url: if you assume that a battery is "worn out" when it has only 70% of its capacity when new, an example battery, that is always fully discharged before being recharged, lasted for 500 chargings. An example battery that was only 10% discharged before recharging lasted for 4700 chargings.
Also, lithium-ion batteries don't like heat: heat, like deep discharges, shortens the overall battery lifetime. Don't leave your iPad in a hot car or similar place.