By default Algolia's Zendesk integration automatically generates the objectIDs when it crawls your articles and creates the corresponding records.
Since the objectID is how we're able to identify and update a record. You would need to recreate the records (and delete the existing ones) in order to change the objectIDs of your existing records.
If you are currently using the default Algolia Zendesk connector to index and update your data, the solution above would not work for you, as the connector will reindex your records with the default objectID that is different than the article id.
Currently there is no way to bypass or change this behaviour. To set each objectID as its corresponding Zendesk articleID you will need to create your own custom crawler by forking the integration and customising the code -- specifically this line.