You could try using Net::SNMP
If you do a get_request on an OID which is not supported by the device, it returns and error, and the error_status() is set to 2 (noSuchName). For example:

#! /usr/local/bin/perl
use strict;
use Net::SNMP;
my ($session, $error) = Net::SNMP->session(
  -hostname  => shift || '192.168.5.242',
  -community => shift || 'public',
  -port      => shift || 161 
);
if (!defined($session)) {
  printf("ERROR: %s.\n", $error);
  exit 1;
}
my $sysUpTime = '1.3.6.1.2.1.1.3.0.1';
my $result = $session->get_request(
  -varbindlist => [$sysUpTime]
);
if (!defined($result)) {
  printf("ERROR: %s.\n", $session->error);
  my $error_status=$session->error_status;
  printf("Error Status: %s \n", $error_status);
  $session->close;
  if ($error_status == 2) {
    print "This device does not support the MIB requested.\n";
  }
    
  exit 1;
}
printf("sysUpTime for host '%s' is %s\n",
  $session->hostname, $result->{$sysUpTime} 
);
$session->close;
exit 0;
[download]

What's wrong with this OID is that I have added '.1' to the end of a normal sysUptime OID.