Updating iPad from iOS 4.3.2 to current OS

I have a set of ipad 2's for educational purposes. They haven't been updated in ages and are currently running iOS 4.3.2 (capacity says 29 GB with 28.7 available). I'm trying to update iOS, which requires connection to a computer. I'm using the iMac they were originally configured with (which is running Mac OS X 10.5.8 and iTunes 10.6.3, which it says is the latest).
When I plug in the ipads, they are recognized in iTunes. The screen says "A newer version of iPad software is available (Version 7.0). ..." but when I click the Update button next to that in iTunes, a message pops up that says "This version of iTunes (10.6.3) is the current version." I've restarted the iMac, and iTunes, and the iPad. Same messages.
When I try to do Restore in iTunes, it processes for a while ("Extracting software") and then says "The iPad could not be restored. This device isn't eligible for the requested build."
But shouldn't an iPad 2 be able to handle an iOS upgrade? Maybe the issue is too many upgrades have gone by without these iPads being updated.
For what it's worth, I don't have any apps or data (files, media) on these iPads that I need. I'm happy to do a full reboot and get the iOS upgraded.
Any guidance is welcome. Thanks for your help.

Thanks for your help, which clarifies that a more recent version of iTunes is needed (and thus a more recent of OS on the iMac is needed). Because I have nothing that needs to be saved or backed up from the ipads. I've just connected them to a newer iMac running the latest OS and iTunes. And I'm then prompted to restore/update the ipads, which gives them the latest OS.
Thanks for helping.

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