Do you leave your iPad connected to its Power Adapter for extended periods? If so, this is not of itself an issue - as the iPad will optimally manage battery charging. 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 strategy is intended to extend the life of the battery by reducing chemical ageing that occurs when the battery is continuously maintained 100% charge. As soon as a “normal” charge/discharge pattern is resumed, charge to full capacity is restored.
If your iPad has paused charging at ~80%, simply disconnecting the Power Adapter from the iPad for several seconds may trigger completion of the charge.
Temperature may also be a contributory factor; the iPad is designed to reduce the charging rate if the temperature is too high for optimal charging. More information about iPad’s battery management can be found here:
About iPad and iPhone Charge Management Feature – Apple Support