Mostly you don’t need to worry about it. The recommended full discharge/charge is to calibrate the percent charge meter. It does not have a significant effect on battery health. I believe the instructions actually say below 10%, not full discharge, then a full uninterrupted charge to 100%.
There is some talk about not leaving the iPad on the charger all the time, and other things you can do; however the overall effect on battery life probably isn’t worth the trouble. Mostly, when it comes to battery health Apple has you covered. The battery managment software will prevent damage, and keep your battery healthy.
While fully discharging is bad, you can’t easily do this by accident. At some point the iPad will shut down automatically (after several low battery warnings). When it does this there is still a safe charge on the iPad. However, letting iPad sit around for a long time with a low battery could result in a true full discharge, and cause damage. If you’re going to store the iPad for an extended period (a few months) I believe the recommendation is a half charge.
None of this is a guarantee that your battery won’t fail or loose significant capacity. Batteries weaken and fail, not always on schedule.