If $M$ is a module over $R$, any endomorphism $\phi:M\to M$ induces an endomorphism $\Lambda^r \phi:\Lambda^rM\to \Lambda^rM$.
If $M$ is free with basis $e_1,...,e_n$, then $\phi $ has a matrix $A=(a_{ij})$ in this basis.
The module $ \Lambda^rM$ is also free, with basis $(e_H)_{H\in\mathcal H}$ where $\mathcal H$ is the set of strictly increasing sequences $H=(1\leq i_1\lt ...\lt i_r\leq n)$ and $e_H=e_{i_1}\wedge ...\wedge e_{i_r}$.
The key point is that with respect to this basis the linear mapping $\Lambda^r \phi$ has a matrix $\Lambda^r A=B= (b_{H,K})$ and that the entries $b_{H,K}$ can be computed:
the result is $b_{H,K}=\operatorname { det } (A_{H,K})$, the minor obtained by extracting from $A$ the lines numbered by $H$ and the columns numbered by $K$.
Hence we have the formula at the heart of the answer to your question
$$\operatorname { Tr }(\Lambda^r \phi) =\sum_H b_{H,H}=\sum_H \operatorname { det }(A_{H,H})$$ From this follows the required formula for the characteristic polynomial of $\phi$
$$ \chi_\phi(X)= \operatorname { det } ( X\cdot 1_n-A)=\sum_{r=0}^n (-1)^r (\sum_H \operatorname { det }(A_{H,H}))X^{n-r} =\sum_{r=0}^n (-1)^r \operatorname { Tr }(\Lambda ^r\phi) X^{n-r} $$
Remark
The formula $b_{H,K}=det (A_{H,K})$ giving the matrix of of the exterior product of an endomorphism is very useful, in the study of Plücker embeddings and Grassmannians for example, and is a modern avatar of the venerable Laplace expansion of determinants.
It is, in my opinon, underappreciated and the very notion of exterior power $\Lambda^r A$ of a matrix $ A$ is very rarely mentioned.
[Amusingly the notion of tensor product of matrices, aka Kronecker product, seems to have made a comeback thanks to quantum computation and quantum information]