I as waiter on cruise ship 10 years ago for a 10 month period. Back then all my earnings were tips. Our salary was symbolic, about 50$.
In my opinion tipping is only way to have personalized service. Nothing can make your waiter to CARE more than adequate gratitue. And thats the point: Everyone wants a waiter who CARE.
Would you like service provided by staff on fixed salary? Thrust me that just doesnt work. Those guys work long hours and under high preasure.
If they are not financialy motivated they would just trow food on your tables and wait to see you leave.