We derive the Anderson-Kondo lattice model by applying canonical perturbation expansion for the Anderson-lattice model in direct space. The transformation is carried out up to the fourth order by a modified Schrieffer-Wolff transformation: we separate the part of hybridization term responsible for the high-energy processes (involving the largest in-the-system intraatomic Coulomb interaction between f electrons) and replace it with the virtual processes in higher orders. The higher-order processes lead to three separate exchange interactions. The obtained Hamiltonian contains both the Kondo (f-c) and the superexchange (f-f) interactions, as well as a residual hybridization responsible for the heavy-quasiparticle formation. This effective Hamiltonian can be used to analyze the magnetic or the paired states, as well their coexistence in heavy-fermion systems. The magnitudes of both the Kondo exchange and the superexchange integrals are estimated as a function of bare hybridization magnitude.