AI is a powerful tool that opens up a ton of possibilities for zoos to both better manage breeding programs and to keep animals safe. Though I do agree with the sentiment that animals should be given choice as to whether or not they breed, I don't think it's a bad thing to artificially inseminate animals. Especially when breeding can be dangerous, like large hoofstock; especially when genetic diversity is important and transferring live animals is too stressful/costly/etc.
People who compare it to rape not only grossly misunderstand what artificial insemination is, but they are wildly disrespecting actual rape victims when they compare the two.
Elephants seem to be the main point of discussion here, so I'll link to two youtube videos I found on the topic.
This one here from 2008 shows the artificial insemination of Edie at the Knoxville Zoo. I struggled to find info on if this actually took and if she gave birth at any point- most of the news articles I was able to find detailed her move to a sanctuary in 2023 as part of her EOL care. Somewhat interestingly she was the elephant involved in the (non-aggressive, wholly accidental) death of a keeper in 2011.
This video discusses the artificial insemination of Tamar at the Jerusalem Biblical Zoo in 2004- the footage shown is not the insemination itself, but the ultrasound. I'm pretty certain the fetus shown is Gabi, who currently lives in the Gaziantep Zoo in Turkey. He is their only elephant. I think. Their website is confusing and maybe not functional and I cannot read Turkish. In any case both mama and baby are still alive.
Anyway. I agree with others saying that there's no reason to ban artificial insemination or to dissuade it as a practice, though it is perhaps best practice to do it only when there are either notable risks in typical animal intercourse, or if there is a genetic basis behind doing so (i.e. importing sperm to widen the gene pool without moving animals around). Any comparison to sexual assault or rape is frankly disgusting.