I've traveled the world and have come to the conclusion that diners are better off in a tipping environment. Realize this is purely anecdotal but time and time again we have come to the realization that incentives matter and incentivizing good service makes sense to me (and I shouldn't have to order a bottle of wine at lunch to get it). If all someone is going to do is play telephone from one side of the room to the…
Based on what I've seen in the US, tipping doesn't encourage good service, it encourages noticeable service. I'd rather be served by a slightly inattentive sullen teenager in the UK, than a perky waitress with a fake smile pestering me all the time in the US.
I would pick the perky attentive waiter sporting a smile that neither you nor i know is fake over a sullen inattentive person anywhere. In fact, if someone is having a bad day, I actually appreciate the effort to make it better with a fake smile than imposing it on me with a bad attitude. I've experienced overbearing waiters and the solution is as simple as politely asking for space. Nobody walks away from a moment like that feeling angry.
Back to the ultimate point: the question at hand is does tipping (overall) add to or take away from the quality of service provided to the partron. Based on my experience the answer is yes. All else equal - a person may or may not care about the tip.. in which case you get your base level of service. However, you may come across someone that does, in which case you are overwhelmingly more likely to get better service as a result.
Last thought: I find that tipping for service establishes a more direct human bond between me (the recipient) and the person performing the service that ultimately adds (positively) to the mutual experience. Rarely have I been anywhere where I walked away thinking I would have gotten better had I not tipped.