How many times was Robert Palmer the singer married and what were his wives names?

Robert Palmer met Susan Eileen Thatcher backstage at one of his shows in Pittsburgh in late 1978. Thatcher was a veteran groupie and had been backstage to many shows. She married Robert Palmer in late 1979 at age nineteen, and the pair remained married until 1999, when Susan requested a divorce from her husband. She felt that they had drifted apart and that she would be happier not married to him. The marriage yielded two children. Susan is now a successful artist who resides in Sedona, Arizona, where she owns her own art gallery.