Your iPad will suffer no harm in being connected to external power for extended periods - whether in use or not. This usage model is common in many environments, such Point of Sale and Kiosk applications - and when using an iPad with external monitors in desktop computing applications.
Your iPad will optimally charge your iPad battery, modifying its charging strategy as appropriate.
More information about iPad’s battery management can be found here:
About iPad and iPhone Charge Management Feature – Apple Support
You might also find this information helpful:
Batteries - Maximizing Performance - Apple
Your iPad will automatically regulate and optimise charging - and will not overcharge the battery. When connected to a Power Adapter for an extended period of time, such as when used in Kiosk or PoS (Point if Sale) applications, iPad will change its charge management strategy - and reduce the maximum battery charge level to about 80% of maximum capacity. This modified charging strategy is designed to reduce chemical ageing that might otherwise occur if 100% charge is maintained at all times.
Nominal 100% charging will be restored when a normal charge/discharge routine is restored.