Who's the cheap one in this equation?
.... the customer who is paying the owner of the restaurant for the food AND is obligated by social convention to pay extra to the waiter who is underpaid.
or
... the restaurant owner who doesn't mind living in a world where we have normalized underpaying restaurant workers to the point where we pass down that responsibility to the customer who is already paying for the food.
Pay your workers a proper wage and get rid of the idea of tipping.