There is a more universal tool than chrpath called patchelf. It was originally created for use in making packages for Nix and NixOS (packaging system and a GNU/Linux distribution).
In case there is no rpath in a binary (here called rdsamp), chrpath fails:
chrpath -r '$ORIGIN/../lib64' rdsamp
rdsamp: no rpath or runpath tag found.
On the other hand,
patchelf --set-rpath '$ORIGIN/../lib64' rdsamp
succeeds just fine.