The solution to eliminating tipping while also incentivizing servers and others to provide excellent service seems pretty obvious - raise prices by 20% on every transaction in the service industry, and then the employee gets that percentage.

This is good for the business as it encourages the server to provide good service (as long at they clearly understand the importance of the return customer), and also rewards them when the business gets really busy (the result of continually providing good service & good products).

It does eliminate the ability of the customer to play the role of generous or stingy aristocrat, but if they don't like it, they can just not come back.