"content" property should have id of the element in the xhtml page. So something like this should work:
for (my $cnt=1; $cnt<=$#chapters; ++$cnt) {
$epub->add_navpoint(
label => 'Chapter '.$cnt.": $memotitles[$cnt]",
id => 'article'.$cnt,
content => 'text.xhtml#article' . $cnt,
play_order => $cnt );
}