Answer:
Robert Palmer was divorced from Susan Palmer nee Thatcher in 1999. Robert Palmer officially started dating Geraldine Edwards after that time and she was regarded as his girlfriend at the time of his death. She was the woman "Almost Famous" was written about, and had been close to Robert Palmer since 1976. Although close, the two never married. Robert Palmer's marriage to Susan Palmer was his second and final marriage. His first marriage was to Shelly Palmer, from 1972 to 1978.