To Tip or not to Tip and how much? Why can't we just do away with Tips?

So you are just handed the bill for a meal you just had. Some figures are written on the small slip of paper. Hmm a reasonable sum for the fine meal you just had you think to yourself, but as you merrily reach into your wallet to pay the bill you realize with horror "What about the Tip!!!". Your hands begin to sweat as your brain goes into overdrive trying to figure out the complex arithmetic of exactly how much tip to leave without

a) Having the waiters/waitresses gossiping about how cheap you are as soon as you leave.

b) Feeling like you were ripped off and would have rather give the extra money to the poor.

or

c) having the waitress shout in your face demanding more money

And believe me I have been on the end of (c) myself. After a particularly disappointing meal with really bad service, I still left a tip of about 10% from the value of the meal. While walking out of the restaurant thinking that maybe I shouldn't have left any tip at all.

"Hey excuse me sir wait a minute", a voice behind me said.

"Err", I turned around surprised to see the waitress running after me.

"You didn't leave enough tip", she demanded.

"Er", I just stood there dumbfounded.

"You should give me more tip", she insists.

Completely in shock and not thinking straight I handed over some more money. After she left I felt like I had just been robbed.

So I am writing this appeal to any tipping authorities or ministry of tipping out there, I plead to you that maybe one day we can come up with some sort of tipping standard so that after every meal I wouldn't have to undergo the stress of trying to figure out how much to tip. I mean I have no problems with giving tips or over tipping when I felt the service was good, but I also want a standard minimum that I can tip without anyone complaining when I felt that the service was alright  or even bad. Better still if all this is calculated for me by the restaurant I am going to (I understand that there is a service charge but sometimes you are still expected to tip on top of that).