Symptoms
I need to create an object of a specific APS type so I can later use this object with registerResource and create a new resource of this type.
Resolution
You should use the newResourceByTypeId method:
$resource = \APS\TypeLibrary::newResourceByTypeId("http://parallels.com/aps/types/pa/dns/record/a/1.0");
$resource->property1 = "value1";
$resource->property2 = "value2";
$apsc->registerResource($resource);
You could use POA internal types as well as your own types or types of other applications registered in POA with newResourceByTypeId.