Let's get one thing straight: Waiting tables is the one industry where workers are already getting a living wage, and tipping is the reason for that.
Yes, it's a messy, organic system that no one would have designed. But it's evolved to fill the niche perfectly. Servers get more money, labor costs stay low, patrons choose how much they pay. It's a win-win-win and they only people unhappy are the one who think they are paying the servers too much.
Why would I want to switch from a system where consumers can pay for my labor directly to one where the managerial class takes a cut? If a restaurant stopped allowing tips, and raised prices by 20%, how much of that increase do you think would go to the workers? There's no way to get rid of tipping that's not a reduction in server pay and a more negative experience for restaurant patrons. As a bonus, these "solutions" usually make things harder for exactly the kind of small businesses that we all wish there were more of.
Tipping works. Please don't "fix" it.