The ideal if you need to type a lot is to leave your palms and wrists "floating" in the air while actively typing, and position your torso and keyboard such that you can type with your hands close enough to your body that they can be supported without much effort by your arms and shoulders, perhaps lightly resting your finger tips on the keys. Resting your palms on a palmrest while not actively typing is fine.

You’ll get wrist pain primarily from wrists not being straight (either flexed downward or extended upward). Keeping your wrists close to straight is important when doing any kind of repetitive action with the fingers.